Methods and Apparatus for Automated Food Preparation

ABSTRACT

Methods and apparatus for automatically preparing food for consumption in which preparation comprises dispensing, manipulation, heating, and other operations using a wide variety of ingredients. The methods and apparatus described use ingredients efficiently and maintain their quality, while avoiding contact between ingredients and apparatus to minimize the risk of system contamination.

CROSS REFERENCE TO RELATED APPLICATIONS

The table below sets forth the priority claims for the instantapplication along with filing dates, and patent numbers as appropriate.Each of the listed applications is incorporated herein by reference asif set forth in full herein including any appendices attached thereto.

Which was Referred filed to in this Continuity (YYYY-MM- Which isapplication Docket Internal Application type App. No. DD) now as the #nickname This application is a CIP of 15/805,074 2017-11-06 Pending 074filing NP-17-1 NP1 This application claims 62/724,019 2018-08-28 PendingP-18-2 P7 benefit of This application claims 62/670,043 2018-05-11Pending P-18-1 P6 benefit of This application claims 62/588,9132017-11-20 Pending P-17-4 P5 benefit of This application is a CIP ofPCT/US17/60253 2017-11-06 Pending 253 filing PCT-17-1 PCT1 15/805,074claims 62/522,671 2017-06-20 Expired P-17-3 P4 benefit of 15/805,074claims 62/471,957 2017-03-15 Expired P-17-2 P3 benefit of 15/805,074claims 62/456,008 2017-02-07 Expired P-17-1 P2 benefit of 15/805,074claims 62/417,336 2016-11-04 Expired P-16-1 P1 benefit of PCT/US17/60253claims 62/522,671 2017-06-20 Expired P-17-3 P4 benefit of PCT/US17/60253claims 62/471,957 2017-03-15 Expired P-17-2 P3 benefit of PCT/US17/60253claims 62/456,008 2017-02-07 Expired P-17-1 P2 benefit of PCT/US17/60253claims 62/417,336 2016-11-04 Expired P-16-1 P1 benefit of

FIELD OF THE INVENTION

This disclosure generally relates to the fields of robotics/automationand cooking/culinary arts.

SUMMARY

The automation of food preparation is of significant interest. Ahighly-automated food preparation system/machine/kiosk/appliance canoffer significant benefits, providing a means of reducing labor that isfrequently hard to find and costly and allowing installation inlocations unsuitable for workers; increasing the availability of qualityfood and allowing access in more locations and at more times; reducingwait times; facilitating customization to individual tastes, nutritionalrequirements, and dietary restrictions; reducing the risk of foodborneillness caused by restaurant workers; increasing repeatability by makingrecipes more quantitative and ensuring they are followed accurately;etc.

Key issues associated with automated food preparation may be addressedby packaging, providing, and storing ingredients within sealed flexiblepackages (pouches)—with each pouch containing the amount of aningredient required for a particular recipe, given the number ofservings to be prepared—rather than in bulk form (e.g., contained withina large bin or hopper).

It is an object of some embodiments of the invention to assure highingredient quality by protecting ingredients before use from exposure tothe environment, since air and moisture can cause oxidation,desiccation, sogginess, staleness, and other degradation which reducepalatability, and require frequent and wasteful restocking with freshingredients.

It is an object of some embodiments of the invention to assure foodsafety and hygiene by minimizing or eliminating durable components ofthe apparatus coming into direct contact with ingredients, sinceotherwise there is danger (without perfect cleaning, which is difficultto achieve) of harmful microbes growing (within residues of foodremaining on surfaces) which can then enter uncontaminated food, or ofcross-contamination from other ingredients (including allergens such aspeanuts), and if ingredients are not well protected, insects and othervermin may infest them.

It is an object of some embodiments of the invention to offer mealvariety by providing dispensing methods and apparatus that arecompatible with a very large range of ingredients, including those thatmight be too delicate, too large, too moist, etc. to dispense by othermethods.

It is an object of some embodiments of the invention to provideefficient and non-wasteful dispensing of ingredients by such thatvirtually the entire amount of ingredient provided for a particular mealis delivered and there is little or nothing left behind

It is an object of some embodiments of the invention to minimizemaintenance of systems which automate food preparation, and reduce theneed for human intervention.

Other objects and advantages of various embodiments of the inventionwill be apparent to those of skill in the art upon review of theteachings herein. The various embodiments of the invention, set forthexplicitly herein or otherwise ascertained from the teachings herein,may address one or more of the above objects alone or in combination, oralternatively may address some other object ascertained from theteachings herein. It is not necessarily intended that all objects beaddressed by any single aspect of the invention even though that may bethe case with regard to some aspects.

In a first aspect of the invention a method for manipulating a flexiblepackage comprising flaps, includes: (a) providing a flexible packagewherein the package comprises at least one flexible film comprising aleft portion and a right portion with each portion having an inside andan outside surface with the inside surfaces facing each other andwherein the left and right portions have regions that are sealed one tothe other and wherein each portion comprises a distal flap; (b)contacting the flap of the left portion using first contacting means;(c) contacting the flap of the right portion using second contactingmeans; (d) moving the two contacting means and separating the two flapsfrom one another.

Numerous variations of the first aspect of the invention are possibleand include, for example: 1) the moving comprising pushing or pulling onthe flaps; 2) the contacting means selected from the group consisting ofi) suction cups, ii) adhesive pads, iii) clamps, iv) pins, v)microstructured adhesive, and vi) electrostatically-attracted pads; 3)moving each flap to a position and orientation where it can be graspedby clamping means.

In a second aspect of the invention a method for manipulating a flexiblepackage comprising flaps, includes: (a) providing a flexible packagewherein the package comprises at least one flexible film comprising aleft portion and a right portion and wherein the left and right portionshave regions that are sealed one to the other and wherein each portioncomprises a distal flap; (b) introducing deflecting means between theflaps; (c) moving the deflecting means relative to the flaps; wherebythe flaps are separated from one another.

Numerous variations of the second aspect of the invention are possibleand include, for example: 1) wherein the flexible package comprises aloop of flexible film configured to allow access to the deflectingmeans; 2) further comprising moving each flap to a position andorientation where it can be grasped by clamping means.

In a third aspect of the invention a method for dispensing at least onesubstance from a sealed flexible package, includes: (a) providing asealed flexible package containing at least one substance wherein thepackage comprises at least one flexible film comprising a left portionand a right portion with each portion having an inside and an outsidesurface with the inside surfaces facing each other and wherein theportions are partially sealed to one another to form at least onecompartment containing the at least one substance and wherein the sealcomprises at least one openable region and wherein each portioncomprises an unsealed flap; (b) grasping the flap of the left portionusing left grasping means; (c) grasping the flap of the right portionusing right grasping means; and (d) moving the left and right graspingmeans to apply tension to the flaps; whereby the openable region of theseal is opened and at least a portion of the at least one substance isdispensed from the at least one compartment.

Numerous variations of the third aspect of the invention are possibleand include, for example wherein the first and second grasping meanscomprise at least one clamp.

In a fourth aspect of the invention a flexible package containing atleast one item wherein the package includes: (a) at least one flexiblefilm comprising a left portion and a right portion with each portionhaving an inside and an outside surface with the inside surfaces facingeach other; and (b) wherein the portions are partially sealed to oneanother to form at least one compartment containing the at least oneitem; and (c) wherein the seal comprises at least one openable sealregion; and (d) wherein each portion comprises an unsealed extension atone end; and (e) wherein each extension is narrower than a sealed regionof the portion from which it extends; and (f) wherein the two extensionsdo not completely overlap.

In a fifth aspect of the invention an apparatus for use with a sealedflexible package having a substance contained in a cavity and comprisingat least one flap, the apparatus includes (a) means for holding andpositioning a sealed flexible package; (b) grasping means to grasp atleast one flap of the package; (c) movement means to move the graspingmeans relative to the package cavity.

Numerous variations of the fifth aspect of the invention are possibleand include, for example wherein the substance is flowable and furthercomprising expelling means to expel the substance from the packageselected from the group consisting of i) at least one squeegee, ii) atleast one roller, and iii) at least one inflatable bladder.

In a sixth aspect of the invention an apparatus for use with a flexiblepackage containing at least one flowable substance, includes: a) meansfor holding and positioning a flexible package; b) retractableimpingement means configured to impinge on the package to discharge theat least one flowable substance from the package.

Numerous variations of the sixth aspect of the invention are possibleand include, for example: 1) wherein the impingement means retracts byrotating; 2) wherein the impingement means is selected from the groupconsisting of i) squeegee, ii) roller, and iii) inflatable bladder.

In a seventh aspect of the invention a method for dispensing at leastone substance from a sealed flexible package, includes: (a) providing asealed flexible package containing at least one substance wherein thepackage comprises at least one flexible film comprising a left portionand a right portion with each portion having an inside and an outsidesurface with the inside surfaces facing each other and wherein theportions are partially sealed to one another to form at least one cavitycontaining the at least one substance and wherein the seal comprises atleast one openable seal and wherein each portion comprises an unsealedextension at one end and wherein each extension is narrower than asealed region of the portion from which it extends; (b) grasping theextension of the left portion using first grasping means; (c) graspingthe extension of the right portion using second grasping means; (d)moving the first and second grasping means to pull the two extensionsaway from one another; whereby the seal is opened and at least a portionof the at least one substance is dispensed from the cavity.

Numerous variations of the seventh aspect of the invention are possibleand include, for example: 1) wherein the first and second grasping meansmove along a path that is at least partially curved; 2) wherein thefirst and second grasping means each comprise a clamp having leading andtrailing portions; 3) wherein the first and second grasping means movesubstantially below the flexible package when grasping the extensions.

In an eighth aspect of the invention a storage device for flexiblepackages having at least one edge, includes: (a) at least one uppersurface oriented at a non-zero angle to the horizontal and configured tosupport a flexible package resting thereupon and comprising a lower end;(b) at least one stop proximate the lower end of the surface configuredto contact an edge of the package and prevent motion of the package pastthe lower end whenever the pouch is not actively withdrawn from thedevice.

Numerous variations of the eighth aspect of the invention are possibleand include, for example: 1) wherein the surface comprises a cutout atits lower end to allow access to an edge of the package by a mechanismfor withdrawing the package; 2) variation (1) wherein the mechanismfurther comprises at least one gripper; 2) further comprising anactuator that generates vibration to cause the package to move along thesurface toward its lower end; 3) further comprising at least one ramp toguide a leading edge of the package to a known position within thedevice and wherein the at least one ramp does not prevent removal of thepackage from the device; 4) variation (2) wherein the storage devicefurther comprises a pair of upper and a pair of lower ramps positionedto guide opposite portions of the edge of the package; 5) wherein thesurface can accommodate a plurality of flexible packages at differentpositions; 6) variation (3) wherein the storage device further comprisescontrollable retaining means for flexible packages stored at differentpositions within the device.

In a ninth aspect of the invention a method for dispensing an ingredientfrom within a package into a receptacle beneath the package, includes:(a) relatively lowering the ingredient to make contact with thereceptacle; (b) relatively moving the receptacle in a direction thatcauses at least a portion of the ingredient to change its orientation;(c) allowing the ingredient to exit the package and enter thereceptacle.

Numerous variations of the ninth aspect of the invention are possibleand include, for example wherein the ingredient has a first side and asecond side and wherein the receptacle is moved in a direction tocontrollably cause the first side to face upwards when the ingredienthas at least partially entered the receptacle.

In a tenth aspect of the invention a method for dispensing an ingredientonto a substrate, includes: (a) allowing or causing an ingredient torelatively descend toward a substrate; (b) relatively moving thesubstrate in a direction that causes the ingredient to rotate as itdescends further; wherein the ingredient is laid onto the substrate in adesired orientation.

In an eleventh aspect of the invention a chain of continuously-joinedflexible packages for storing and dispensing a plurality of items,includes: (a) at least one continuous flexible film having alongitudinal axis and comprising a left portion and a right portion andwherein the portions are at least partially sealed to one another toform a plurality of individual compartments each holding at least oneitem; (b) an openable seal adjacent to each compartment and oriented atan angle smaller than 90 degrees to the longitudinal axis.

Numerous variations of the eleventh aspect of the invention are possibleand include, for example: 1) wherein the orientation of the seal issubstantially parallel to the longitudinal axis; 2) further comprisingat least one flap adjacent to each openable seal; 3) further comprisingreduced-strength features proximate at least some compartments selectedfrom the group consisting of i) perforations and ii) scores.

In a twelfth aspect of the invention a method for manipulating aflexible package comprising flaps, the method includes: (a) providing aflexible package wherein the package comprises at least one flexiblefilm comprising a left portion and a right portion with each portionhaving an inside and an outside surface with the inside surfaces facingeach other and wherein the portions are partially sealed to one anotherand wherein each portion comprises an unsealed flap; (b) inserting theflaps between a pair of counter-rotating rollers; then (c) engagingclamping means to clamp each flap against the surface of one roller;then (d) separating the two rollers and two flaps from one another.

Numerous variations of the twelfth aspect of the invention are possibleand include, for example: 1) further comprising unsealing at least aportion of the seal; 2) further comprising providing attracting meansfor attracting each flap to one roller; 3) variation (1) wherein theattracting means is selected from the group consisting of i) vacuum, ii)adhesive material, iii) microstructured adhesive, and iii) electrostaticattraction.

In a thirteenth aspect of the invention a device for grasping a flexiblepackage having at least one edge and transporting the package betweenlocations, includes: (a) grasping means for grasping an edge of thepackage; (b) rotating means for rotating the package around asubstantially horizontal axis from an initial orientation to a finalorientation.

In a fourteenth aspect of the invention an automated method forpreparing food using a plurality of ingredients, includes: (a) readyinga plurality of ingredients by transferring the ingredients from at leastone storage device to at least one temporary holder using firstmechanical grasping and relocating means; (b) grasping and transferringan ingredient from the temporary holder to a dispenser as needed usingsecond mechanical grasping and relocating means; (c) dispensing theingredient into a receptacle.

Numerous variations of the fourteenth aspect of the invention arepossible and include, for example: 1) wherein first mechanical graspingand relocating means and second mechanical grasping and relocating meansare the same; 2) wherein first mechanical grasping and relocating meansand second mechanical grasping and relocating means are not the same; 3)further comprising altering the temperature of an ingredient within theat least one temporary holder.

In a fifteenth aspect of the invention an automated system for preparingfood from ingredients contained in packages, includes: (a) storage meansfor storing a plurality of packages; (b) heating means for heatingingredients within packages; (c) automated transfer means configured totransfer packages from the storage means to the heating means; (d)automated dispensing means; (e) automated transfer means configured totransfer packages from the heating means to the dispensing means.

Numerous variations of the fifteenth aspect of the invention arepossible and include, for example wherein the heating means is selectedfrom the group consisting of i) a hot liquid bath, ii) a convectionoven, iii) a microwave oven, iv) an infrared heater, v) a solid-stateradio frequency (RF) oven, vi) hot air, and vii) steam.

In a sixteenth aspect of the invention a method for automaticallydisposing of an empty or unusable flexible ingredient package, includes:(a) grasping the package with a mechanical grasper; (b) repositioningthe package above a waste container; (c) releasing the package from thegrasper into the container.

In a seventeenth aspect of the invention a method for preparing food fora food consumer, wherein the food requiring both heated and non-heatedingredients, includes the consecutive steps of: (a) dispensing at leastone ingredient into a receptacle; then (b) heating the at least oneingredient within the receptacle; then (c) dispensing at least oneadditional ingredient into the receptacle; (d) conveying the receptacleto a food consumer.

In an eighteenth aspect of the invention a flexible package for storingand dispensing a plurality of ingredients, includes: (a) at least twocompartments arranged one above the other when the package is orientedfor dispensing; (b) a peelable seal below each compartment, the peelableseal comprising at least one non-horizontal region.

In a nineteenth aspect of the invention an apparatus for dispensing thecontents of an upright flexible package comprising two film regions andan openable seal between the two film regions located below the contentsof the package wherein the flexible package further comprises extensionsof the films below the seal, the apparatus includes: (a) actuatedgripping means configured to grip the package along two oppositevertical edges in locations proximal to or lower than the openable seal;(b) actuated moving means configured to move the gripping means inopposite directions to horizontally tension the lower portion of thepackage and the extensions; (c) actuated grasping and tensioning meansfor grasping the extensions and tensioning them to open the seal.

In a twentieth aspect of the invention a method for unsealing anddispensing a flexible package having an openable seal and flapsextending below the seal, includes: (a) orienting the package uprightwith the openable seal toward the bottom of the package; (b) graspingthe package along two opposite vertical edges; (c) pulling the two edgesin opposite directions.

Numerous variations of the twentieth aspect of the invention arepossible and include, for example wherein the peelable seal has theshape of a chevron having an apex at the bottom, and wherein the packageis grasped at a height substantially equal to or lower than the heightof the apex.

In a twenty-first aspect of the invention a method for dispensing a foodingredient from a package, includes: (a) providing a sealed packagecontaining a food ingredient wherein the package comprises at least oneflexible film comprising a left portion and a right portion with eachportion having an inside and an outside surface with the inside surfacesfacing each other and at least a portion of the inside surfacescontacting the ingredient and wherein the portions are sealed to oneanother to form at least one cavity containing the at least oneingredient and wherein adjacent to the at least one ingredient, thesealing comprises at least one openable region and wherein the packagecomprises two opposite edges and two unsealed flaps beneath the seal;(b) gripping the package near the two edges and pulling outwardly on thepackage to apply tension to it; (c) separating and reorienting theflaps; (d) clamping the flaps and applying tension to them; wherein thepackage is opened.

Numerous variations of the twenty-first aspect of the invention arepossible and include, for example wherein the seal comprises a chevronhaving an apex at its bottom and wherein the gripping is substantiallyat or lower than the height of the apex.

In a twenty-second aspect of the invention a device for applying tensionto at least one portion of a sealed flexible package (e.g. a flapportion) to open the package and dispense the contents from within thepackage, includes: (a) a moveable upper clamp configured to move alongan upper clamp path and comprising an upper clamping surface configuredto contact a portion of a flexible package from above; (b) a moveablelower clamp below the upper clamp configured to move along a path atleast partly common with the upper clamp path and comprising a lowerclamping surface configured to contact the portion from below; (c)movement means to move at least one of the upper clamp and lower clampwhile the portion contacts upper and lower clamping surfaces.

Numerous variations of the twenty-second aspect of the invention arepossible and include, for example: 1) further comprising guiding meansto guide the upper and lower clamps to move at least partially along theupper clamp path; 2) further comprising urging means to urge the upperclamp downward against the portion, wherein the urging means is selectedfrom the group consisting of i) weight, ii) mechanical spring, iii) gasspring, iv) at least one magnet, v) at least one electromagnet, vi) atleast one electropermanent magnet, vii) electrostatic element, and viii)adhesive; 2) further comprising support means configured to prevent theupper clamp from descending as low as the lower clamp; 3) furthercomprising at least one blade having a lower edge around which a portionof a flexible package is partially wrapped and redirected; 4) furthercomprising a high friction material on the upper and lower clampingsurfaces.

In a twenty-third aspect of the invention a method for applying tensionto portions of a flexible package to open the package, includes: (a)providing a moveable upper clamp able to move along an upper clamp pathand having an upper clamping surface configured to contact a portion ofa flexible package from above; (b) providing a moveable lower clampbelow the upper clamp able to move along a path at least partially incommon with the upper clamp path and having a lower clamping surfaceconfigured to contact the portion of the flexible package from below;(c) introducing a portion of a flexible package into the space betweenupper and lower clamping surfaces; (d) moving at least one of the upperor lower clamps until the portion of the package contacts both upper andlower clamping surfaces; e) moving the upper and lower clamps in adirection that applies tension to the portion thereby opening thepackage.

In a twenty-fourth aspect of the invention a dispenser for a flexiblepackage, includes: (a) two substantially symmetric and aligned pouchunsealing and dispensing subsystems facing one another; (b) mechanicalmeans for increasing the gap between the subsystems and for decreasingthe gap while maintaining alignment of the two subsystems.

In a twenty-fifth aspect of the invention a flexible package containingat least one substance, includes: (a) at least one flexible filmcomprising a left portion and a right portion and wherein the portionsare partially sealed to one another to form at least one compartmentcontaining the at least one substance; (b) a seal comprising at leastone openable region; (c) an unsealed extension of at least one portionof the film; (d) at least one region within the at least one unsealedextension having apertures to allow passage of pushing means.

Numerous variations of the twenty-fifth aspect of the invention arepossible and include, for example wherein left and right extensions areprovided, with each extension including an aperture, and wherein theapertures of the left and right extensions are in different relativelocations.

In a twenty-sixth aspect of the invention a method for manipulating aflexible package comprising unsealed extensions, the method includes:(a) providing a flexible package wherein the package comprises at leastone flexible film comprising a left portion and a right portion andwherein the portions are partially sealed to one another and whereineach portion comprises an unsealed extension having an aperture; (b)pushing on a left portion extension by passing pushing means through theaperture of the right portion extension; (c) pushing on the rightportion extension by passing pushing means through the aperture of theleft portion extension; whereby one extension is separated from theother.

Numerous variations of the twenty-sixth aspect of the invention arepossible and include, for example reorienting the extension sufficientlyto allow it to be clamped by clamping means.

In a twenty-seventh aspect of the invention a method for automaticallyemptying an ingredient within a flexible ingredient package into avessel and disposing of the package, includes: (a) grasping the packagewith a grasper; (b) dispensing at least a portion of the ingredient intoa vessel located beneath the package and overlying a waste container;(c) relatively positioning the vessel so it is no longer located beneaththe package or overlying the waste container; (d) releasing the packagefrom the grasper and allowing the at least partially emptied package tofall into the waste container.

In a twenty-eighth aspect of the invention a method for manufacturing aflexible package, includes: (a) providing first and second flexiblefilms; (b) forming aligned apertures in first and second films while thetwo are in proximity; (c) feeding the first film toward a sealer along afirst path; (d) feeding the second film toward the sealer along a secondpath longer than the first path; (e) sealing together the two films;whereby a flexible package is produced wherein the location of theapertures in the first film and the second film are not aligned.

In a twenty-ninth aspect of the invention a method for opening aflexible package, includes: (a) providing a package having two flapswith non-aligned apertures; (b) inserting pins through the apertures ofthe flaps; (c) moving the pins to separate the flaps; whereby thepackage is opened.

Numerous variations of the twenty-sixth aspect of the invention arepossible and include, for example grasping the separated flaps andapplying tension to them.

In a thirtieth aspect of the invention a method for opening a flexiblepackage, includes: (a) providing a package having first and second flapseach with apertures; (b) inserting a first pad through the aperture inthe first flap; (c) clamping the second flap between the first pad and asecond pad; (d) inserting a third pad through the aperture in the secondflap; (e) clamping the first flap between the third pad and a fourthpad; (f) the pads to separate the flaps; whereby the package is opened.

Numerous variations of the thirtieth aspect of the invention arepossible and include, for example wherein grasping the flaps furthercomprises tensioning the flaps.

In a thirty-first aspect of the invention a method for heating aningredient, includes: (a) providing an ingredient within a first pouch;(b) providing a second pouch that surrounds the first pouch; (c) openingthe second pouch to expose the first pouch; (d) heating the ingredientthrough the first pouch; (e) opening the first pouch to remove theheated ingredient.

In a thirty-second aspect of the invention a method for heating aningredient, includes: (a) arranging two plates with inner surfacesfacing one another and separated by an angle between zero and 180degrees; (b) dispensing an ingredient onto the inner surface of at leastone plate; (c) moving at least one plate until the inner surfaces aresubstantially parallel; (d) heating at least one plate; (e) separatingthe plates; whereupon the heated ingredient leaves the plates and entersa receptacle.

Numerous variations of the thirty-second aspect of the invention arepossible and include, for example: 1) further comprising covering the atleast one plate with a heat-resistant cover; 2) wherein the cover isretained by vacuum.

In a thirty-third aspect of the invention an automated method forsupplying a meal, includes: (a) receiving an order; (b) providing areceptacle; (c) providing flexible packages containing ingredients; (d)determining from the order the ingredients required and the packagescontaining them; (e) successively dispensing the required ingredientsfrom the identified packages into the receptacle; (f) heating or coolingingredients which requires heating or cooling.

In a thirty-fourth aspect of the invention an apparatus for automatedfood preparation, includes: (a) storage means for storing flexiblepackages each containing at least one ingredient; (b) grasping meansconfigured to grasp the packages; (c) a dispenser configured to unsealeach package and dispense the at least one ingredient; (d) a receptacleconfigured to receive the at least one ingredient from each package; (e)positioning means for moving the packages to the dispenser; and (f) acontainer for depositing each at least partially empty package.

Numerous variations of the thirty-fourth aspect of the invention arepossible and include, for example: 1) wherein the storage meanscomprises a plurality of cubbies; 2) wherein the grasping meanscomprises a gripper configured to grip each package at its upper edge;3) wherein the dispenser comprises moving clamps configured to grasp andapply tension to a portion of each package to open it; 4) wherein theclamps are configured to grasp flaps of the package; 5) wherein thedispenser comprises a blade having an edge around which flaps of thepackage are partially wrapped.

In a thirty-fifth aspect of the invention a method for automated foodpreparation, includes: (a) providing a flexible package containing atleast one ingredient; (b) providing a motion stage, a dispenser, and areceptacle below the dispenser; (c) grasping a first portion of thepackage; (d) moving the motion stage to position the package inproximity to the dispenser; (e) grasping at least a second portion ofthe package; (f) opening the package to discharge the at least oneingredient into the receptacle.

Numerous variations of the thirty-fifth aspect of the invention arepossible and include, for example: 1) wherein the opening comprisespeeling a peelable seal of the package; 2) wherein the opening furthercomprises substantially peeling apart two walls of the package.

In a thirty-sixth aspect of the invention a flexible package for cookinga food item, includes: (a) a food item compartment enclosed by aheat-resistant material; (b) a permeable support below the food itemcompartment; (c) a liquid compartment below the permeable support; (d) agrease-absorbing filter above the food item compartment; (e) at leastone openable seal.

In a thirty-seventh aspect of the invention a storage device for aplurality of flexible packages, includes: (a) a flexible package supportcomprising a plurality of substantially coplanar tilted surfaces; (b) anindividually-controllable vibration means coupled to each tiltedsurface; (c) a stop at the lowest end of the device.

In a thirty-eighth aspect of the invention a method for fabricating aperforated flexible package from two continuous webs of film, includesthe steps of: (a) providing a first and a second web of film; then (b)perforating the first and second film; then (c) advancing the first filmtowards sealing means along a part of length A while advancing thesecond film towards sealing means along a path of length B where B isgreater than A; then (d) sealing the first and second film together toform a package.

In a thirty-ninth aspect of the invention a flexible package forself-contained cooking of an ingredient contained therein, includes: (a)at least two flexible films each having a bottom and a top edge; (b) acavity for an ingredient; (c) an openable discontinuous seal between thefilms below the ingredient cavity; (d) a cavity for liquid below theseal; (e) a first openable seal between the films below the cavity forliquid; (f) a second openable seal between the films above theingredient cavity; (g) filtration material above the second openableseal; (h) at least one aperture in at least one film above the secondopenable seal.

Numerous variations of the thirty-ninth aspect of the invention arepossible and include, for example wherein at least a portion of at leastone film is heat resistant.

Numerous additional variations of the aspects are possible and mayinclude for example, variations associated with one aspect of theinvention being applied to other aspects. Other aspects of the inventionwill be understood by those of skill in the art upon review of theteachings herein. Other aspects of the invention may involvecombinations of the above noted aspects or variations of aspects of theinvention. It is intended that variations of one aspect of the inventionmay be applied to other aspects of the invention and that variousfeatures of one or more aspects of the invention be useable in otheraspects of the invention and even that sub-combinations of variousfeatures of one or more aspects of the invention may provide new aspectsof the invention. Combinations are considered appropriate so long as thecombinations do not remove all functionality provided by individualcomponents. These other aspects of the invention may provide variouscombinations and sub-combination of the aspects presented above as wellas provide other configurations, structures, functional relationships,processes for making, and/or procedures for using that have not beenspecifically set forth above.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts a typical flexible package used in some embodiments.

FIG. 2 illustrates a pouch having an inner pouch.

FIG. 3 shows a pouch having multiple compartments.

FIGS. 4(a)-(b) depict a pouch having seals with different dimensions.

FIG. 5 illustrates a scored pouch with flaps.

FIG. 6 is a view of a pouch comprising a tube.

FIGS. 7(a)-(b) illustrate a dispenser for a chain of pouches.

FIGS. 8(a)-(k) illustrate a dispenser.

FIGS. 9(a)-(b) illustrate a method for dispensing.

FIGS. 10(a)-(b) are views of a suction device.

FIGS. 11(a)-(b) depict a detachment device.

FIGS. 12(a)-(d) illustrates a portion of a dispenser.

FIGS. 13(a)-(b) depict a dispenser.

FIG. 13(c) is a view of a pouch.

FIGS. 13(d)-(g) depict a dispenser.

FIGS. 14(a)-(b) illustrates a dispenser.

FIG. 14(c) is a view of a pouch.

FIG. 14(d) is a view of a pouch and portion of a dispenser.

FIG. 15 is a flowchart for dispensing a food item.

FIGS. 16(a)-(d) depict a storage device for pouches.

FIGS. 17(a)-(d) illustrate storage devices for pouches.

FIGS. 18(a)-(d) are views of a storage device for pouches.

FIGS. 19(a)-(c) depict a storage device for a flexible package.

FIG. 19(d) illustrates removal of a package.

FIGS. 19(e)-(f) are views of a storage device for a package.

FIGS. 20(a)-(n), FIGS. 21(a)-(n), and FIGS. 22(a)-(b) depict movementsof pouches in storage devices.

FIGS. 23(a)-(f) illustrate steps in inserting a pouch into a storagedevice.

FIGS. 24(a)-(c) depict systems comprising storage and/or dispensing.

FIG. 24(d) shows removal of a pouch from a storage device.

FIG. 25 illustrates a system comprising storage and dispensing.

FIGS. 26(a)-(g) depict automated food preparation apparatus.

FIG. 27 shows an approach to handling a pouch.

FIGS. 28(a)-(d) depict a variety of pouches.

FIG. 29 illustrates dispensing from a pouch.

FIGS. 30(a)-(e) show a method for dispensing an ingredient.

FIGS. 31(a)-(c) depict steps in dispensing an ingredient.

FIGS. 32(a)-(g) illustrate steps in dispensing an ingredient.

FIG. 32(h) shows a cross section of FIG. 32(g).

FIG. 32(i) shows a modified version of the apparatus of FIG. 32(h).

FIGS. 33(a)-(b), FIG. 34, FIGS. 35(a)-(b), FIGS. 36(a)-(b), FIGS.37(a)-(c), and FIGS. 38(a)-(f) depict a dispenser.

FIG. 39 is a flowchart for dispensing using a dispenser.

FIGS. 40(a)-(b) depict a dispenser.

FIGS. 41(a)-(b) illustrate a pouch.

FIGS. 42(a)-(f) show steps in separating and reorienting flaps.

FIGS. 43(a)-(b) illustrate a perforated pouch.

FIGS. 44(a)-(b) depict a perforated pouch.

FIGS. 45(a)-(d) illustrate a process of manufacturing a pouch.

FIGS. 46(a)-(d) show a method and apparatus for separating andreorienting flaps.

FIGS. 47(a)-(c) depict a method and apparatus for separating andreorienting flaps.

FIGS. 48(a)-(b) illustrate pouches and aspects of pouch manufacturing.

FIGS. 48(c)-(h) depict a dispenser.

FIG. 48(i) shows movements of a pouch.

FIGS. 48(l)-(k) depict movements of a dispenser.

FIG. 49(a) illustrates a punch.

FIGS. 49(b)-(d) illustrate a process for making a pouch.

FIGS. 50(a)-(f) depict steps in a method and apparatus for separatingand reorienting flaps.

FIG. 50(g) shows an apparatus and method for separating and reorientingflaps.

FIG. 51 depicts an apparatus and method for dispensing an ingredient.

FIG. 52(a)-(b) show methods of placing ingredients.

FIGS. 53-54 is are flowcharts showing processes for fulfilling orders.

FIG. 55 depicts an apparatus for dispensing.

FIGS. 56(a)-(b) show an apparatus for blending.

FIG. 57 shows a device for pouch filling.

FIG. 58 illustrates a method and apparatus for heating an ingredient.

FIGS. 59(a)-(b) depicts a method and pouch for heating or cooking aningredient.

FIG. 60 shows a pouch for heating or cooking an ingredient.

FIGS. 61(a)-(f) depict a sequence for heating or cooking an ingredient.

FIGS. 62(a)-(b) illustrates an apparatus and method for heating orcooking an ingredient.

FIGS. 63(a)-(f) show steps in a process for preparing a sandwich.

FIGS. 64(a)-(c) depict steps in fetching a pouch for dispensing.

FIG. 65 illustrates a design for a pouch.

FIGS. 66(a)-(b) depict a method for manufacturing a pouch.

FIG. 67 shows a pouch having a shaped cavity.

FIG. 68(a) shows a pouch having a molding cavity.

FIGS. 68(b)-(f) depict a molding sequence.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Pouches and Other Containers, Ingredients

Dispensing of ingredients from containers by simply tilting/invertingthe container, or providing a passage through the container bottom—andrelying on gravity alone—can be very inefficient for many ingredients(i.e., a significant percentage of the container contents will remain inthe container after dispensing), and often involves contamination ofsystem components. Key problems associated with automated foodpreparation may be addressed by providing ingredients in containers orpackages which can be handled by suitable apparatus, processes, andalgorithms in various embodiments of a food preparation system. In thisregard, properly-designed flexible packages (hereinafter typicallycalled “pouches”) are particularly advantageous in terms of ingredientquality (e.g., freshness), food safety, and the wide variety ofingredients that can be stored and dispensed (e.g., low, medium, andhigh-viscosity liquids; solids; powders; gels; pastes; moist solids;liquid/solid mixtures; and gases). Among the benefits of pouches overalternative packages such as hoppers and other rigid containers are: 1)low cost; 2) compact (small overall volume; can be stored closelytogether, especially when empty) and lightweight; 3) environmentallyfriendly, using less material and often fully recyclable; 4) easily madein different sizes and shapes; 5) can serve as pulseless,peristaltic-like pumps to dispense flowable ingredients without contactover a wide range of viscosities; 6) can be evacuated, provided withbarrier layers, and filled with gasses to prolong shelf life, avoidoxidation, etc.; 7) can easily be opened by cutting, peeling, etc.; 8)can be opened to their full width to release large items; 9) allowsingredients to be cooked (e.g., sous vide), warmed, or cooled within thepouch; 10) can be subdivided into compartments; 11) easily sealed, canbe re-sealed if desired; 12) allows “on the side” ingredients such assalad dressing to be delivered directly to customers in convenient form;13) can be used for in-pouch processing such as coating (e.g., withbreadcrumbs), mixing, beating, blending, marinating, and otheroperations involving multiple ingredients (e.g., a pouch containing fishcan be emptied into another pouch containing a coating mix which is thensealed and tumbled); 14) if pouches contain just a singleserving/portion, allows exact portion control, perfect inventorytracking and traceability, and removal of expired product withoutcontaminating other product; and 15) enables novel and inventive designsallowing dispensing that is non-contact and efficiently dischargesvirtually the entire ingredient from the pouch (e.g., by passing thepouch around a blade).

A representative pouch used in some embodiments of the invention andable to contain one or more food ingredients, a fully-prepared meal,etc. is shown in an upright orientation in FIG. 1. Such a pouch isintended to be simple in construction so it can be producedcostly-effectively by manufacturing lines for pre-made pouch lines or inform/fill/seal machines known to the art of flexible packaging. Pouchesmay have very different appearances than as shown, especially if vacuumpacked. Pouches may be made in different shapes and sizes (e.g., widefor items such as steaks, chicken breasts, fish fillets, cheese andbread slices, tortillas, and sliced tomatoes; or narrow for asparagus).Pouch contents may be as-supplied or in a partially-processed state(e.g., ingredients added to a pouch for use at a later time during thepreparation process of a specific meal). Hereinafter, the term“ingredient”, “substance”, or “food item” shall generally refer to anyand all contents of a pouch, including multiple distinct ingredientswhich may co-occupy a pouch, as applicable. The pouch can be made fromvarious film materials including combinations of materials (e.g., indifferent layers) such as polymers and metals. For longer term storageof food, for example, the pouch may comprise a barrier layer known tothe art such as EVOH or a metal film, as is typically found in a retortpouch. Pouch materials may include polyethylene films, polyethyleneterephthalate (PET) films, multi-layer films such as polyethylene/nylon,films containing a polymer and a metal foil, films containing a polymerand a sealing material, films containing absorbers of gas (e.g., oxygen,ethylene), etc.

As constructed, the pouch of FIG. 1 typically comprises two flexiblefilms which are sealed (e.g., heat-sealed) together (though a singlefilm folded at the top may be used in some embodiments) with seal 2 thatmay be permanent or openable (e.g., peelable); typically unsealed,opposing distal “flap” extensions/portions of films 4 and 6 at thebottom, having top bend lines 9 and lower edges 13; and at least onecavity or compartment 8 for ingredients. Some pouches may however useone relatively rigid film and one flexible film, in which case a singleflap associated with the flexible film may be adequate if the other filmis rigid enough (e.g., if thermoformed) to allow peeling away of theflexible film by pulling on one flap. The cavity may result from thedeformation of the flexible walls of the pouch or may be pre-formed(e.g., thermoformed), etc. A top seal 10 is formed (e.g., by heat orultrasonic sealing) at the top of the pouch after loading (and in somecases, after removal of at least some of the air within, and sometimes,introduction of an inert gas); this seal need not be openable. A barcode (1-D, 2-D) or other method of identification (e.g., RFID or NFCtag) on the pouch allows machine reading of pouch-related information,and may be located on seal 10 or elsewhere. Human-readable informationsuch as expiration date may also be provided. Seal 2 is openable in itslower region 14, and to facilitate opening may have a “V” or chevronshape as shown, with an apex 11. In some embodiments seal 2 is peelable(e.g., at least one film may comprise a peelable heat sealable materialknown to the art of packaging) allowing the pouch to be unsealed bypulling apart the flaps, which may be shorter than those shown inFIG. 1. Seal 2 may be openable in its upper (vertical in FIG. 1)regions, especially for ingredients which are most thoroughly dispensedby opening all or most of the pouch during dispensing (i.e., separatingthe films comprising the pouch almost entirely from one another, thoughusually not including seal 10).

Pouches may have complex constructions. For example, a pouch intended todispense an ingredient consisting of small pieces (e.g., a powder) maycomprise an inner pouch 16 as in the 3D view of FIG. 2 with holes 18,surrounded by films 20 on at least one side, the films forming an outerpouch which is attached to the inner pouch (e.g., at the tops of innerand outer pouches. The outer pouch may be made to press on pouch 16walls (and obscure holes 18) by vacuum packing pouch 20, etc.,preventing any item from leaving pouch 16 prematurely, before the outerpouch is opened. In some embodiments, pouches may include otherprovisions and fitments, whether internal or external. For example,pouches may include elements which assist with the process of dispensing(such as stiffening the pouch near an upper edge), or which help protectthe ingredients within (e.g., elements which reduce the risk ofcrushing), or which improve recyclability, etc. Seals need not bestraight, horizontal, or vertical, but can be for example, angled withrespect to the direction of peeling. For example, FIG. 3 depicts a pouchhaving zig-zag seals 22 that are peelable, as well as a top seal 24 andflaps 26 at the bottom. If desired each compartment may be filled nohigher than fill line 28 shown, allowing room for a squeegee to impingeon the pouch squeeze out items in each compartment in sequence.Depending on the ingredients, compartments may be isolated not byliquid-tight seals/walls but by porous or partial barriers (e.g., forsolid foods such as sliced meats or vegetables). Pouches may besubdivided into multiple cavities. If ingredients interact and shouldnot be combined until shortly before the food is consumed, they can bekept isolated (e.g., lettuce and salad dressing may be kept separateuntil needed). If a pouch with multiple compartments is peelable, insome embodiments it may have horizontal cavities stacked one above theother, so that a pouch dispenser—if it begins to peel the pouch from itsbottom—will successively release the contents of each compartment.Pouches can be very tall (along the vertical axis) to allow for more andlarger compartments.

Perforated or gas-permeable pouches may be used to allow respiration forcertain ingredients (e.g., spring mix lettuces, celery, cucumbers,tomatoes, bananas, broccoli, leeks) and/or provide drainage of excessmoisture to prevent spoilage. If perforated, very smallholes/micro-perforations (e.g., 5-300 microns diameter) may be desirableto control respiration (e.g., one or more 100-micron holes in a pouch)but also to minimize the risk of contaminants and/or insects fromentering the pouch or ingredients escaping. Such perforations can beproduced by lasers or mechanical perforating techniques known to theart. Alternatively, at least a portion of the pouch may comprise awoven, nonwoven, or mesh material.

A variety of food items (single ingredients or combinations thereof) maybe dispensed from a pouch whose inner surfaces are non-wettable (e.g.,superhydrophobic, using the technology of LiquiGlide, Cambridge, Mass.).If the intent is to dispense the ingredient fully and as quickly aspossible into a receptacle (e.g., dish or vessel) as is typically thecase, such dispensing may consist essentially of opening the pouch atits bottom and allowing the item to fall out. However, withoutsuperhydrophobic surfaces, which may be too costly especially forsingle-use pouches, or for more controlled dispensing, novel apparatusand methods as described herein are favorably employed.

Food items may be classified as Type 1, 2A, or 2B, and dispensedefficiently, depending on their properties, using one or more of threeoptimal approaches, though non-optimal dispensing of a particularingredient may also be implemented (e.g., if the optimal approach is notavailable). Type 1 items are flowable with a wide range of viscosities;these can be dispensed very effectively in some embodiments by methodsand apparatus that implement a peristalticsqueezing/displacement/expressing approach in which i) the pouch isopened at the bottom (fully or partially); and ii) pressure is appliedto the flexible walls of the pouch either generally to compress them, orto locally compress the walls and move the region of compressiondownwards, displacing the pouch contents toward the opening (or throughan extrusion nozzle, if provided). In some cases in which the pouch issealed with a peelable/burstable seal at its bottom and with a suitableingredient, step i) is not needed, since pressure buildup within thepouch will open it, but this should be well-controlled. Flowable itemsinclude a wide variety of liquids ranging from oil to nut butters toguacamole, and are not limited to pure liquids, gels, or pastes, in thatthey may contain solids combined with a volume of liquid sufficient toallow the item to flow. Type 2A and 2B items, in contrast, are notparticularly flowable, and would more likely be crushed than dispensedif pressure were applied to the pouch with the item inside. Type 2Aitems may be relatively heavy, large, with small surface/volume ratios,and/or are dry, and do not tend to adhere to the pouch inner walls,while Type 2B items may be relatively light, small, have largersurface/volume, and/or are moister, and tend to adhere to the walls.These tendencies are influenced by the state of the ingredient and thecomposition and condition of the walls, such as their surface energies.Type 2A ingredients may be dispensed in some embodiments by merelyopening the pouch and letting them fall out (however, the pouch may beshaken, jerked, accelerated, or vibrated (e.g., by the gripper(s)holding it) in a controlled way so as to promote dispensing but avoiddispersing the item anywhere than intended (e.g., outside a dish, whereit could contaminate the system)). Examples of type 2A items includemany nuts and iceberg lettuce. However, if this simple approach isattempted for type 2B items (e.g., canned tuna, beans, sautéedvegetables), a significant fraction of the item will typically remain inthe pouch, leading to waste, the risk of an unpleasant odor if the itemstarts to spoil, attractiveness to vermin, and more difficult pouchrecycling.

According to some embodiments, type 2B items can be very effectivelydispensed by methods and apparatus which peel the walls of the pouchcompletely apart, such that the item within loses the support of thewalls and falls. Depending on size, shape, moisture content, etc., thismay be adequate to dispense them. For more challenging items or portionsthereof, additional methods and apparatus can be applied to ensureefficient and complete dispensing such as ensuring that 1) the anglebetween the walls as they are peeled apart is optimal, and 2) providingfor one or more blades (as in FIG. 27(c′) of the 074 and 253 filings)having a small radius of curvature at its lower edge around which thefirm forming the walls of the pouch can be wrapped, and ensuring thatthe plane of each film changes its angle (is redirected) significantlyas it passes over the edge. It has been observed that items which aresmall, moist, high surface/volume and/or lightweight and which initiallyadhere to the film usually cannot negotiate the tight turn as the filmadvances around the blade, due to such properties as stiffness, andtherefore fall off the film as desired. Thus, according to someembodiments, a given food item may be classified according to the bestmethod of dispensing it, and the appropriate method and/or apparatusselected. For example, if an item is classified as Type 1, squeezing thepouch may be selected as the preferred dispensing approach (e.g., forefficiency and speed) rather than just opening the pouch, which may notwork well if ingredients tend to adhere to the walls, or opening andpeeling the pouch. If the item is type 2B, then peeling the pouchentirely apart and passing the films of which it is comprised overblades as in FIG. 27(c′) of the 074 and 253 filings may be selected asthe preferred dispensing approach. In contrast, pouches for Type 1 or 2Aingredients may not be easily openable except in region 14 (FIG. 1).

In some embodiments certain regions of the pouch seal are made weakerand/or faster-yielding than others. This can be useful so as to allowpeeling only in certain regions (e.g., the chevron portion of the seal)while preventing it in others (the sides of the pouch), to allow peelingof an internal seal (e.g., between compartments) but not external seals(separating ingredients from the environment), allowing the pouch tovent in a desired location in case pressure builds up internally (e.g.,due to steam and air heating while the pouch is heated). Variations inseal strength can be achieved by methods including a) applying two ormore sealant materials to the film used in making the pouch; b) applyinga sealing inhibitor to certain regions of the pouch; c) weakening theseal in certain regions by lightly sealing it to a temporary surfacewhich is then peeled off or using a seal material that can be weakened(e.g., by exposure to radiation); d) varying the sealing temperature orpressure in different regions by i) using sealing dies which aredifferentially heated, ii) using dies having surface topography (somesurfaces of the die being lower than others to reduce contact pressure),iii) sealing with a die of variable hardness (e.g., comprising siliconerubber or other temperature-stable elastomer, possibly filled to enhancethermal conductivity), or iv) sealing against a platen comprisingmaterials of variable hardness (e.g., elastomers of two differentdurometers); e) using a die comprising multiple pieces and/or flexibleelements, such that certain regions can be left in contact with/pressagainst the film for a longer time than others; and f) sealing certainregions more than a single time.

In some embodiments it is desirable that the force required to peel thepouch be fairly constant, for example, in order to better control thetension of the pouch during peeling, which affects the bending radius ofthe pouch film as it passes around the blade (smaller bending radiiimprove ingredient detachment from the film). The required force at anymoment in time during peeling is normally proportional to the width ofthe seal being peeled at that time. If the seal has a chevron designsuch as in region 14 of FIG. 1 and the seal width is constant as shownin pouch 30 in the elevation view of FIG. 4(a), the peeling force neededto peel the pouch along horizontal (i.e., parallel to the top edge ofthe pouch) peel front 32 will vary along the seal since the width at thepeel front varies (e.g., 34, 36, 38). However, by adjusting the sealgeometry as in the elevation view of FIG. 4(b) to make the totalhorizontal width constant regardless of the location of the peel front,the peel force also becomes constant. Thus width 40 is used for the sealthroughout except in the region of apex 11 where width 42 is twice thatof width 40.

In some embodiments the film of which an ingredient pouch is made canalso be a flexible circuit. With suitable design, such a circuit mayallow measurement of temperature, freshness, pouch distortion, filllevel, weight, internal pressure (which may indicate leaks or spoilage),etc. The circuit can incorporate built-in strain gauges, capacitivesensors, RFID, vibration sensing, and other elements such as batteries,antennas, data logging circuitry, and GPS. The status of the pouch canbe determined from a distance or in contact with it, using for examplenear field communication, backscatter radio/RFID, passive or activeRFID, etc. Using appropriate circuitry, the status and entire history ofthe pouch from the time it is fabricated (or the ingredient packaged) tothe time at which it is opened can be determined.

In some embodiments, especially for Type 1 and 2A ingredients, pouchesmay be designed to break in a well-controlled way when forces areapplied; this may be used in some embodiments in lieu of peeling them toopen them. For example, in the cross-sectional elevation view of FIG. 5,a pouch 44 having an interior 45 includes two flaps 46 and a scoredregion 48 near the bottom (in the case shown, the pouch is asymmetric,but in some embodiments, it may be symmetric). Scoring can be done bymethods including laser or mechanical scoring. When tension is appliedto the flaps, the pouch will split along score line 48, releasing itscontents. In some embodiments, pouches may be made to rupture inspecified locations through the use of heat. For example, a pouch can bemelted along a particular line by including conductive traces (or wires)within the pouch films, and applying current to them to induce Jouleheating. Or, the pouch can be placed in contact with heated elementssuch as wires. Multiple scores are also possible. If the score is alonga diagonal or has a chevron shape, less force may be used to rupture it,and a variable-width opening can be achieved. Scoring vs. peelable sealscan be advantageous for pouches which will be heated after sealing,since heating may reduce peelability, or for pouches which cannot easilybe made from peelable films.

The rate at which a Type 1 ingredient leaves the pouch—especially if lowviscosity—may be controlled (e.g., eliminating spontaneous dripping sothat flow rate is entirely controlled by squeegee motion and can be madeconsistent) by including a tube (e.g., rigid or semi-rigid plastic,preferably of the same material as the pouch, for recyclability) orsimilar shape in the pouch, around which the pouch is sealed (peelablyor non-peelably) along the upper sides of the tube, such that the insideof the pouch communicates with the inside of the tube. This is depictedin the 3D view of pouch 50 in FIG. 6. Tube 52 provides more flowresistance and establishes a well-controlled width for the pouch openingregardless of the exact amount peeled. Alternatively, the pouch mayinclude a seal that forms a tube-like shape below the chevron. Pouch 50can be sealed around the upper region of the tube using a peelable ornon-peelable seal 54, and sealed around the lower region using apeelable seal 56 (e.g., a U-shaped seal that also seals the tube bottomas shown in the 3D view of FIG. 6, such that by pulling on flaps 58(e.g., while wrapped around blades, not shown but which may be locatedin the figure where the flap meets pouch wall 60), the pouch can beopened, exposing the lower end of tube 52, which protrudes and can reachbelow the pouch. The diameter and length of the tube can be selectedaccording to the ingredient viscosity at the expected dispensingtemperature, the desired flow rate when squeezed, etc. A casing such ascasing 726 of the 074 and 253 filings, or other means, such asapplication of vacuum to one side of the pouch or clamping means, can beused to stabilize and stiffen the tube, though in some embodimentsmaintaining tension on the flaps will suffice. Such an arrangement canbe used, for example, to deposit a sauce, dressing, etc. into a specificlocation in a dish or other substrate (or ingredient within the dish).By moving the dish relative to the tube/pouch, complex patterns may be“printed”, including 3D printed (multilayer) structures. The pouch maybe lowered and/or the dish raised as much as possible such that the tipof the tube is near the surface onto which the ingredient should bedeposited.

Pouches in some embodiments may be formed from combinations of metalfoil or vacuum-deposited metal with paper or polymer. For example,parchment paper (on the inside surface of a pouch) laminated to aluminumfoil, can allow cooking with a conduction heat source, even of foodsthat might not be too compatible with aluminum. Or, a pouch may comprisea polymer sealed to two elements (e.g., rectangles) of metal foil thatare adjacent to an ingredient within. Thus, the polymer elements of thepouch can provide robustness and a peelable seal, while the metalelements allow the ingredient to be heated/cooked by contacting the foilelements with a heated plate, etc.

Peelable pouches may comprise two peelable films (e.g., heat sealable)sealed with the sealing layers of the films in face-to-face contact.Alternatively, they may comprise a single peelable film in contact witha plain film (e.g., polyester, polyethylene, polypropylene, nylon) orother substrate (e.g., paper, metal foil, TYVEK®). The second case maybe advantageous in some embodiments in that it allows the plain film tobe optimized for another function, such as printability, opacity, color,mechanical and barrier properties, etc. Moreover, the second case mayprovide for greater seal uniformity and lessen the risk of shredding thefilm(s). Since heat sealable coatings may not be perfectly uniformlydispersed and there can therefore be local, random variations, when twosuch films are bonded, there may be regions having little sealablematerial, and regions having an excess of sealable material. The formerregions may bond poorly, potentially allowing pouch rupture at lowpressure, while the latter regions may bond too strongly, initiating atear in the film(s).

Manufacturing pouches which are both recyclable and have the desiredmechanical and/or barrier properties is currently a major challenge forthe packaged food industry, since films with the desired propertiestypically are laminated from multiple layers of different materialswhich are difficult/impossible to separate for recycling. In someembodiments, a pouch may be produced from multiple materials which arenot laminated across their entire surface as usual, but only at theedges or in other specific locations. While such a pouch may not havethe same mechanical properties as a laminated pouch, its barrierproperties are similar. To recycle such a pouch, one need only trim awaythe laminated regions; the unlaminated regions, comprising the majorityof the material, then separate and can be easily recycled.

In some embodiments, a pouch that is at least partially peelable may bemade from a two-layer film in which both layers may be the same material(for recyclability) or different (e.g., a metallized coating on theinside surface of the films. The strength of the peelable seal can bemade to be less than that of the bond between the two layers (such thatthe pouch normally will peel into two pieces) but should not beexcessive. Then, if the pouch begins to tear/shred, rather than theentire film tear through as can happen with a one-layer film, the innerlayer will separate and remain with the film on the other side of thepouch.

Providing an intentionally weak region of a seal to allow venting of thepouch is possible as discussed, and such a region may preferably belocated in the upper portion of the pouch. In some embodiments it isdesirable to prevent the escape (or entrance) of anything other thanfluids, in which case small perforations, or an incorporated piece ofTYVEK®, GORE-TEX®, woven or nonwoven cloth, or screening can beincorporated downstream of the weak region of the pouch as a barrier.

In some embodiments a pouch might use a zipper(s) such as those found inZIPLOC® bags in lieu of or in addition to a peelable seal.

In some embodiments the pouch can comprise a liquid-absorbing materialto absorb liquids from ingredients (e.g., meat, fish). This material ispreferably retained in the pouch by being fastened to it, by beinglocated in a separate compartment, etc. In some embodiments the pouchcomprises both a primary compartment for the ingredient, and a separate“capture” compartment into which excess liquids can drain. In someembodiment variations, the pathway to the capture compartment isequipped with a check (one-way) valve, which may for example comprise aflap of the material of which the pouch is made which overlies a hole inthe primary compartment, and which prevents liquid from returning to theprimary compartment. In some embodiment variations, the capturecompartment contains a liquid-absorbing material.

Ingredients within pouches may include those that are fresh, frozen,freeze-dried, dehydrated, partially dehydrated, high pressure processed,irradiated, aseptically packaged, etc. Freeze drying, dehydration, etc.allow for larger amounts of food to be provided from small pouches, andreduces weight that needs to be transported when restocking theapparatus. Water or other liquids can be added either from pouches,tanks/reservoirs inside the system, from a water supply outside thesystem, etc. Unlike food, water if pure (e.g., filtered, UV-sterilized)cannot contaminate components of the machine if in contact with them,and so need not be kept from contacting them.

Many ingredients can be stored in a frozen state and defrosted asneeded. For example, ingredients in a pouch containing minimal air canbe defrosted (and also heated and/or cooked, if desired) by immersion inwarm or hot liquid such as water. While this process can take some time,it is suitable for ingredients comprising a pre-ordered meal, or a mealconsumed in quantity during peak hours. Based on historical demand, anumber of pouches can be processed this way, even simultaneously.Reheating in water, as well as cooking sous vide, is not affectedsignificantly by total heating time, so ingredients in pouches removedfrom a bath at different times will be comparable.

Growing Ingredients

Ingredients need not be supplied to automated food preparation apparatusin the state in which they will be used. For example, ingredients cangrow (e.g., lettuce), sprout (e.g., mung beans), ferment (e.g., yogurt,kefir), soften (e.g., beans soaked in water), age (e.g., cheese),marinate (e.g., steak immersed in marinade), rise (e.g., bread dough),be ground (e.g., coffee or flour), etc., all within the machine.

Produce can be grown within the automated food preparation machine usingtechniques such as hydroponics, aeroponics, and sprouting. If produce isgrown this way, it can be extremely fresh and flavorful since it can beharvested immediately before consumption and does not requirepesticides. Moreover, washing of ingredients can be eliminated and theeffort and expense of restocking the machine can be reduced, sinceingredients not yet harvested remain fresh for extended periods; producerestocking only then requires transporting small, lightweight items suchas seeds. Ingredients may be grown within pouches at least partially.For example, a hydroponic/aeroponic nutrient solution may be inside apouch along with the plant roots, while outside the pouch the rest ofthe plant grows. Or, a two-compartment pouch might include a lowercompartment for nutrient solution, and a permeable (e.g., perforated)upper compartment for the remainder of the plant. Ingredients may alsobe grown in other containers than pouches (e.g., rigid containers), andmay be grown in large contiguous quantities or small, isolatedquantities. Appropriate growing media such as sponges made from peat,rockwool, etc. can be used (e.g., incorporated into pouches or othercontainers). In some embodiments the normal growing arrangement (rootsat the bottom) may be modified (e.g., locating roots at the side, rootsat the top) so as to facilitate harvested ingredients falling into adish or vessel below. In some embodiments crops are grown in the normalorientation (roots at the plant bottom, receiving nutrient solution(e.g., via spray) and receive light from above), but at least some cropsare temporarily rotated to another orientation (e.g., horizontal,inverted) during harvesting so that harvested ingredients fall withoutneeding to be touched into a serving dish or other vessel. It may bedesirable in some embodiments that an ingredient is grown in fairlysmall volumes and weights that are portion/serving-sized, thusminimizing the need to cut apart the ingredient into smaller units.However, such processing may still be desirable: lettuce leaves, forexample, can be trimmed in their upper extremities, or individual leavescan be cut at the stem.

In some embodiments ingredients may be grown on a continuous translatingor rotating surface such as a conveyor belt, dish, or drum, having theproperties required to support the plant (e.g., open porosity). Ifneeded (e.g., for fruits) pollen can be dispersed within the growingenvironment. Lighting (e.g., LED lighting with optimized spectralcharacteristics) can be provided, and customized for each growingingredient, as can temperature and humidity. Automated, roboticpruning/harvesting mechanisms may be used in some embodiments, and insome embodiments, ingredients may be induced/constrained to grow inparticular shapes and forms by the apparatus, so as to improve growingconditions, facilitate harvesting, etc. In some embodiments ingredientsmay be detached from their roots when ready to harvest, or cut higherup, by automated cutters or other automated mechanisms that pluck,shear, break, tear, twist, crush, or otherwise process the plant inorder to isolate the desired portion of the ingredient from portionsthat are not to be consumed at the time (or ever: these can be collectedfor composting, etc.) Methods of cutting can include laser (e.g.,excimer or femtosecond lasers which ablate the plant material withoutburning), high-pressure waterjet cutting, ultrasonic cutting (e.g., ablade coated with a disposable film, or a disposable or cleanabletensioned vibrating wire), a saw blade, string, or cable (similar to astring trimmer used in gardening), etc.

Harvested ingredients can be transported (e.g., by falling directly)from the location in which they're grown to a dish for serving, or to avessel for further processing. Ingredients not used soon afterharvesting can be kept reasonably fresh by spraying regularly withwater, etc.

In some embodiments, machines for automated food preparation can includebioreactors or similar apparatus allowing cultured meat, fish, orpoultry to be grown within the machine, e.g., within portion-sizedpouches, molds, or other containers.

First System

FIG. 7(a) depicts a 3D view of the supply, dispensing, and wastecollection portions of a food preparation system wherein pouches 61,shown empty for clarity and sealed on all sides, are combined into achain 62 and wherein the pouches are opened and dispensed fromindividually along side edge 64, i.e., an edge parallel to the long axisof the chain. As shown in the figure, chain 62 may generally movehorizontally in direction 63 as more and more pouches are opened fordispensing. However, as shown in the elevation view of FIG. 7(b), chain62 may be redirected (e.g., by passing over diagonal rollers or brushes,not shown) so that portions of the chain can move vertically indirection 65 as well as horizontally, while still allowing dispensingfrom side edges 64 of the pouches. Pouch chain 62 may have transverseperforations 66 other than near the top of the chain. It can then beopened if needed by fully peeling one wall away from the other in thedirection 67 as already described, and allowing each wall to then hangfrom the unperforated portion of the chain at the top. Depending on theamount of the wall peeled, the perforations may be broken/torn tovarying lengths. In some embodiment variations, in lieu of perforations,the chain may be scored, and in some embodiment variations, the wallsmay be cut while peeling. In some embodiment variations, the pouches arealready separated and simply hang from a continuous strip at the topedge. In some embodiment variations, flaps 68 may be provided near theside seal of each pouch to assist with opening the pouch, as describedelsewhere herein. The side seal may be equipped with a chevron seal toaid in peeling. The details of dispenser 70 are not shown for clarity,but may be similar to dispensers described elsewhere herein such as theside-entry dispenser of FIG. 14(a) below. The chain may be stored on aspool in a supply case 72, or may be folded in an accordion-like manneras shown. After dispensing into a receptacle such as dish 74 below thedispenser, the chain may be collected on spool 76 which rotates indirection 78. In some embodiments the chain has sprocket holes at itstop edge to aid in feeding it and supporting it (using sprockets).

Pouch chains that move horizontally (e.g., FIG. 7(a)) are in someembodiments desirable for several reasons: a) ease of filling withingredients (rather than fetch a new pouch, just advance the chain); b)speed and ease of dispensing and disposing of empty pouches (fetchingthe pouch from a distance isn't needed, and removal of empty pouchesoccurs while the chain is indexed). Horizontal pouches can also bespliced (joined together) more easily than vertical chains, in whichthere are two layers of film everywhere, which must remain separable. Ina horizontal chain, the pouches are more independent and a marginbetween pouches can be provided to allow cutting and splicing: themargin can comprise a single film layer or two layers that are bondedtogether non-peelably. Horizontal chains can be homogeneous (typicallyfor a multi-dispenser system) or heterogenous (typically for asingle-dispenser system) in terms of the ingredients they contain.Heterogenous chains may contain all the ingredients needed for a meal,arranged in the normal sequence of dispensing; if an ingredient is notwanted, it can be dumped or the chain can index further so as to skipthe pouch containing it.

Dispensers such as those of FIG. 7(a) or 7(b), or other dispensers, canbe incorporated into a compact and rapid system for automated foodpreparation such as that of FIGS. 29(a)-(d) of the 074 and 253 filings,or into other systems. For example, a rotary system can comprise a groupof dispensers such as that of FIG. 7(a), e.g., each for a differentingredient, arranged radially with a turntable underneath on whichdishes move from station to station as the turntable rotates. Supplycases 72 can be located at a larger radius than the dishes, and spools76 can be located at a smaller radius (e.g., near the system center).Once a dish is fully loaded, it can be transferred (e.g. by a radialconveyor) to a box for pickup.

Individual Pouch Dispensing

The function of the dispenser is to dispense ingredients from pouchesefficiently, i.e., to eject as much of the pouch contents as possible,do so quickly (e.g., in 2-3 seconds), and do so with hardware that is assimple and inexpensive as possible. Moreover, the subsystem should beable to dispense an ingredient without physically contacting it, suchthat the ingredient only contacts the inner surface of the pouch/stripand does not contaminate any portion of the machine, thus obviating theneed for cleaning (whether in-situ or after removal) or replacement.FIGS. 8(a)-(f) depict 3D views of a “universal” dispenser used in someembodiments for dispensing ingredients from an individual pouch. Thedispenser is universal in that it can dispense any of Type 1, 2A, or 2Bingredients since it has the ability to open the pouch, express flowablecontents inside, and peel it apart around blades and in a direction thatis appropriate for Type 2B ingredients. In some embodiments dispensersbased on FIGS. 8(a)-(k) (and other universal dispensers such as those ofFIGS. 13(a)-(b) and (d)-(g) can be more specialized (e.g., for use in amulti-dispenser machine) and only provide a subset of the functionality.For example, a dispenser for type 2A and 2B ingredients only need notcomprise apparatus to express flowable ingredients, while a dispenserfor type 1 and 2A ingredients only may comprise different apparatus foropening the pouch (e.g., in which pouch flaps are tensionedhorizontally, or at a smaller upwards angle, or even downwards if spacepermits, and may include blades to change the direction of tensioningrather than using them also to detach adherent ingredients.

In machines having multiple types of dispenser, the controller(computer, microcontroller, etc.) may select the appropriate type ofdispenser for a given ingredient.

In FIG. 8(a), the main components of the dispenser are seen. Thedispenser overall may comprise two each of a squeezer 79 (also FIG.8(b)) and a peeler 81 (also FIG. 8(c)), and may comprise blades 83 andmoveable vacuum cups 85 used in conjunction with the peeler. Opening apouch such as that of FIG. 1 may involve the sequential steps of 1)separating and reorienting the flaps so they can be clamped by thepeeler clamps; 2) clamping the flaps securely with the peeler clamps;and 3) moving the clamps so as to apply tension to the flaps and openthe pouch.

The squeezer, used for Type 1 food items, serves to impinge a squeegee,roller, or similar (hereinafter “squeegee” unless noted) against thewall of the pouch and move downwards toward the pouch opening, pushingout the item. The squeezer may be designed so the squeegee can retractaway from the pouch (e.g., to allow it to be loaded). In the embodimentshown, the squeezer achieves movement to and away from the pouch, anddownwards movement economically, with a single motor as actuator. Thesqueezer may comprise tilting squeegee 80 which tilts around pivot 82and has inner working end 84 that contacts the pouch outer wall, uppermember 86, lower member 88, at least one guide rod 90, lead screw 92 andnut 94 fixed to the upper member. It may further comprise standard itemsknown to the art such as a motor to turn the lead screw, powertransmission components (e.g., gears, pulleys) connecting the motor andlead screw, various brackets to support motor and guide rod(s), a spring(not shown) or similar (e.g., compression, gas, constant force, cablepassing over a pulley connected to a weight) that urges lower member 88upwards, and an optional spring that tilts the working end of thesqueegee down, none of which are shown. The squeegee may also beweighted so it normally tilts down without a spring. The upper membercomprises a boss 96 at its bottom that can press on the on the end ofthe squeegee opposite its working end to tilt the squeegee, andbushings/bearings that allow it to slide on the guide rod(s). The lowermember comprises a stop 97 which prevents the squeegee from tilting pasta certain point, and bushings/bearings surrounding the guide rod(s). Thesqueegee may have relief 98 to allow its working end to tilt downwardswithout the squeegee interfering with the lead screw; a relief in thelower member (shown) may also be provided if needed. Both the upper andlower members are able to slide on the guide rod(s).

As shown in the elevation view of FIG. 8(d), in operation the squeezermotor rotates lead screw 92 forcing nut 94 downwards, and with it, uppermember 86 to which it is attached. Since lower member 88 is urgedupwards by a spring, boss 96 on the upper member pressing on the end ofthe tilting squeegee first causes the squeegee to rotate about pivot 82until working end 84 contacts the pouch outer wall (this rotation 160has already occurred in FIG. 8(d)), at which time the outer end contactsstop 97 on the lower member (the gap seen the figure between upper andlower members is not required). As the upper member continues to movedownward, the upper member, lower member, and squeegee travel downwardsin the direction 162 toward the pouch outlet as a unit, causing squeegee80 to slide along the pouch and push out the contents. During thismotion, friction with the pouch outer wall and the reaction force fromthe contents within produce a moment on the squeegee which also helps tomaintain it in the desired orientation, with its working end contactingthe pouch. While the squeegee is moving, gripper(s) 100 (FIG. 8(e))gripping the pouch at its top securely hold it in position. The pouchmay open when its contents are pressurized by action of the squeezer, orit may be peeled open by the peeler before activating the squeezer, etc.Once the squeegee has traveled low enough that the majority if not allof the pouch contents have been expelled, the squeezer is reset: themotor reverses direction, causing upper member 86 to rise, and allowingthe spring acting on lower member 88 to make it rise as well. At someposition, depending on the spring characteristics, the upper member willmove further than the lower member, allowing squeegee 80 to tilt againso it retracts from the pouch and its working end is down. The pouch maybe withdrawn from the dispenser by the gripper(s) once the squeegee hasretracted. FIG. 8(d) also depicts food items 164 falling in direction165 from pouch outlet 166 once pouch has been peeled open by lower andupper clamps in direction 168.

In some embodiments only one squeezer is used, and a substantially rigidplate adjacent to the opposite wall of the pouch is provided. Then, thesingle squeegee generates the force needed to dispense the item aftertilting to squeeze both pouch walls between its working end and theplate. In some embodiments in lieu of one or more moving squeegees, oneor more inflatable bladders 102 are used as shown in the elevation viewsof FIGS. 9(a)-(b) to squeeze pouch 104, e.g., one supported bygripper(s) 100 attached to an arm 106, over a dish. In FIG. 9(a) thebladders 102 re deflated, allowing the pouch to be inserted into adispenser, while in FIG. 9(b), they are inflated as indicated by arrow106, expelling the pouch contents 108 in direction 110 toward dish 112.In some embodiment variations, the bladder is designed (e.g., through avertical gradient in cross-section or stiffness, or by being designedwith multiple chambers) so that it inflates initially towards the top(squeezing the pouch at the top first), and the inflation thenpropagates downwards. A single bladder may be used in conjunction with arigid plate.

The peeler can be seen in FIG. 8(c), and may comprise upper clamp 114,lower clamp 116, lead screw 118, nut 120 fixed to the lower clamp, andat least one guide rod 122 (one shown). Not shown are standard itemssuch as a motor, power transmission components, brackets, and a spring(e.g., a gas spring or other spring, possibly with a relatively constantforce) to urge the upper clamp downwards. In some embodiments in lieu ofa spring, upper clamp 114 can be made heavy enough that its weight issufficient to clamp the pouch flap 123, and no spring is needed. Boththe upper and lower clamps may comprise bushings/bearings allowing themto slide along the guide rod(s). In operation, once the flap of a pouch(FIG. 8(e)) has been introduced into the gap between upper and lowerclamps by the vacuum cups, the motor rotates the lead screw, causing thelower clamp to rise and pinch the flap between the two clamps. Continuedrotation of the screw causes the two clamps to rise as a unit and due tothe spring pushing the upper clamp downwards, maintain a strong grip onthe flap which allows tension to be applied to it so the pouch can bepeeled open/unsealed. Peelers may be mounted so that the rods are at anangle to the vertical as in FIG. 8(f) (which brings the clamps at theirlower end of travel closer to the flaps, and can provide for moreconstant-angle peeling) or at other angles. For example, if blades arenot used, peeler rods may even be horizontal.

The upper and lower clamps are designed to not interfere with the motionof at least two vacuum cups connected to a vacuum source which may beprovided to engage/couple to/grasp the pouch flaps so as move themtoward the clamps. Alternatives to vacuum cups include temporary andreusable adhesives, electrostatically-attracted pads, suction cup tape(Inventables, Chicago, Ill.), microstructured adhesive (e.g., SETEX™(nanoGriptech, Pittsburgh, Pa.)), and expanding elements which enterholes in the flaps. Vacuum cups 85 may be circular as shown in FIG.8(a), rectangular as shown in FIGS. 10(a)-(b), or another shape. Inorder to minimize vacuum loss and attain strong traction on the flaps,which may comprise a stretch-resistant material such as PET, thecontacting surfaces 124 of the cups may be flat as in the 3D view ofFIG. 10(a) or the cross-sectional view of FIG. 10(b), and provided witha multitude of holes 126 and outlet 128 for air flow in direction 130.They may also be flat with a series of surface grooves that communicatevacuum over the contacting surface. By being designed to be flat ratherthan the standard concave shape, the flap is not forced to buckle orwrinkle as it might be if drawn into a concave cup, which can create agap/air leak between the cup and flap that can greatly reduce thetraction force. Even when substantially flat, the contacting surfaces ofthe cups may be soft/elastomeric to allow them to conform to small-scaleirregularities in the flap.

Vacuum cups 85 may be mounted on moveable supports driven by actuators,neither shown, allowing them to move the flap, once it is grasped,toward the clamps. In the embodiment shown, the vacuum cup moves in acircular path that is approximately centered on the upper edge of theflap, such that the flap need not slide vertically relative to the cupas the cup reorients it. The moveable cup supports can be a simple armto the side of the dispenser, driven by a stepper motor or rotarysolenoid, for example. The arm may also serve to conduct vacuum to thecup, or tubing can be used, etc. In some embodiments the cups holding agiven flap may be moved outwards (i.e., away from one another) as well,e.g., before or while moving the flap toward the clamp, which can helpstretch (if the material is elastic) or at least tension and flatten theflap, since the flap may be distorted by the contents of the pouch.Simultaneous rotating and outwards movement may be achieved by using alead screw (e.g., with a high pitch) and nut to rotate and translate thecups: lead screws on opposite sides of the dispenser may therefore haveopposite handedness. Outwards movement prior to rotating can be achievedusing linear actuators known to the art. If the motion of the cups awayfrom one another occurs prior to the motion that moves the cups towardthe clamps, the cups can achieve frictional traction on the flap whilethe flaps are pressed between opposing cups to provide a normal forceand/or by using some level of vacuum. Once the opposing cups haveseparated, vacuum can provide the necessary traction to flatten theflap.

The dispenser may comprise one or more blades 83 over which the filmscomprising the walls of the pouch are bent and redirected while thepouch is peeled. The blades 83 in the 3D view of FIG. 8(k) may be longand supported at their ends by mounting means, not shown. The blades mayhave a thick portion for rigidity, combined with a thin portion whoselower edge 170 can be made reasonably sharp (e.g., several thousands ofan inch radius), depending on the film 172 used to make the flap andpouch (e.g., PET is robust to being wrapped around even a relativelysharp blade). However, to avoid piercing/tearing the film, the bladeshould be wider than the film and the film kept away from any corners,or if that is not practical, then the blade can incorporate curve 174 atits corners (FIG. 8(k)). Since the films are thin (e.g., 0.5-4 mils)they can conform easily to the blade edge when under tension and thusthe radius of their inner surfaces (on which food residues may beadhered) is also small: this helps food residues fall off the film.

FIG. 8(e) depicts a 3D view of a pouch 132 comprising pouch body 134(containing an ingredient cavity) and flaps 123 having top edges 125,grasped by one or more grippers 100 which can deliver the pouch to thedispenser. In the figure, the seal of pouch 132 is not chevron-shaped atthe bottom, but in some embodiments it is. Grippers may be much widerthan those shown in the figure, especially if a single, e.g., centralgripper is used. The grippers are attached to an arm (not shown) movedby a motion stage (not shown) providing at least the Z (vertical) axisof motion if the pouch will be peeled open. In the version shown, thedispenser allows for the pouch to enter the dispenser from the top, fromthe bottom, or from the sides, a choice that may be determined by thepouch storage location (e.g., from below if the pouches are stored belowthe dispenser). In FIG. 8(f), the pouch is within the dispenser at aparticular height, supported by the grippers. The height in someembodiments is such that lines 9 are aligned with the rotation axis ofcups 85, and in some embodiments may be sensed by suitable sensors whichdetect edge 13, a marking on the pouch, etc. During pouch loading, thecups can be moved out of the way, but once the pouch is in position,they are moved against the flaps as in FIG. 8(g). The position of theflaps can vary, and the flaps may not be planar as shown, due todistortion of the pouch caused by its contents. However, since the cupsare moved to the position shown where they are opposed and sandwich theflaps, at minimum the portions of the flaps adjacent to the cups areforced to be in the required location. In some embodiments, vacuum isnot applied to the cups until they have sandwiched the flaps. In someembodiments, the cups engage the flaps more centrally and then slideoutwards to the positions near the vertical edges of the pouch as inFIG. 8(f); if this is done before the cups start to move the flaps,reduced vacuum, or no vacuum, may be used.

Peeling/unsealing of a pouch that has not previously been opened is anactive process that requires the application of forces to directly andcontrollably separate the films that are sealed together (in someembodiments the forces can be reduced significantly such as bypre-weakening the seals (e.g., using a light-degradable adhesive similarto that used in wafer dicing tapes in the semiconductor industry)).While useful in some cases (with flowable ingredients), it is in manycases undesirable to achieve opening by merely applying pressure to thepouch, since this can result in rapid, uncontrolled ejection of thepouch contents. Prior to unsealing it for the first time. the pouchshould be fully sealed to prevent premature release of its contents orexposure to the environment.

FIGS. 8(g)-(j) depict elevation or partial elevation views of a peelingsequence of the peelers in operation. In FIG. 8(g), the pouch is inposition, ready to be peeled. In FIG. 8(h), cups 85, with vacuum turnedon, have rotated away from one another in direction 136, pulling flaps123 (which deform easily while passing lower clamp 116 if needed) withthem in direction 138 and reorienting the flaps until they are near ortouch the lower surface of upper clamps 114. In FIG. 8(i), the cups mayhave continued to move in direction 142 (e.g., to get out of the way),and the lead screws have been rotated to raise the lower clamps indirection 140 and pinch the flaps between the upper clamps 114 and lowerclamps 116, and the upwards motion of the two, moving as a unit, hascontinued somewhat further such that the flaps are wrapped around theedges of the blades. A further small upward motion of the clamps pullingon the flaps will cause the lower seal of the pouch to be opened, whichfor a Type 1 or 2A item is all that is required of the peeler. For atype 2B item, however, the clamps continue to move upwards. In FIG.8(j), the clamps have moved upwards and simultaneously, the grippershave moved the pouch downwards to maintain an approximately constanttension in the film, and the pouch has been partially peeled, such thata portion of each pouch wall is now being exposed and is either alreadybent over the blades or still upstream (in the direction the film ismoving) of the blades on its way to the blades. In some embodiments acompliant element is provided to facilitate this, especially if the filmis relatively stiff: a spring may be provided in the arm supporting thegrippers, for example. The cups have rotated further in FIG. 8(j), suchthat they do not interfere with the upward motion. As the pouch ispeeled, some items 152 (e.g., heavier, larger) will fall towards areceptacle in direction 154 without assistance as the supporting pouchwalls 155 are pulled apart. Other items 156 may adhere temporarily tothe film inner surface, possibly sliding downwards along it but notfalling off. However, as those items approach the edge of blade 83—thelowest point of the film and where the film suddenly changesdirection—in most cases they will detach in direction 158, also enteringthe receptacle.

At the time shown in FIG. 8(i), the angle 144 between the two flaps hasbeen established, and by that of FIG. 8(j), the angle 146—representingthe change in direction of the film as it wraps around the blade edge—isalso established. Angle 144 can be changed if desired by adjusting thepouch position within the dispenser using the Z motion stage: aparameter that can be varied according to the particular food item. Asmall angle 144 provides a steeper film surface, encouraging moistadherent food items to slide toward the blade edge, and also increasingangle 146. For some items (e.g., hummus), however, a small angle 144makes it difficult for the bulk of the item to break free of the film,and a larger angle 144 may be preferred. Thus, angle 144 can be adjustedaccording to stored data (e.g., in a database, in a code on the pouch)for a particular food item; the data may include other parametersassociated with dispensing the item, such as the squeegee speed and theclamp speed, and the type of item (1, 2A, or 2B), thus instructing themachine controller which dispensing technique should be used. In FIG.8(j) it may be noted that trajectory 148 of lower clamp 116 andtrajectory 150 of upper clamp 114 are parallel to the film downstream or(above) blades 123, given the angled mounting of the peeler lead screwsand guide rods. Thus, if desired the angle 146 can be maintainedthroughout peeling as long as angle 144 is also constant. As the clampsrise along the rod, the grippers holding the top edge of the filmdescend in a synchronized movement so as to maintain a controlled(constant or variable) tension in the film. If the film tension is toolow, then it will not conform well to the blade edges and food residuesmay fall off at the blades; if the tension is too high, the film maystretch undesirably or break. Especially if the film is stiff, anelement such as a spring in the arm supporting the grippers may be usedto provide compliance and help maintain proper tension. It may beappreciated from FIG. 8(j) that the blades serve a further purpose ofpreventing the clamps from pulling sideways on the pouch as they move.

Once the clamps have moved to their highest desired position for a givenpouch (whose height may vary), the pouch walls have been fully peeled.In some embodiments the upper seal of the pouch is peelable, while inothers it is non-peelable. Moreover, at some point the pouch cannot befurther peeled because of the grippers grasping it at its top. If thereis some head space in the pouch above the food item, then at the end ofthe upward stroke of the clamps the film forming the head space may bebetween the blades. To allow the maximum amount of peeling, the grippersmay be lowered more than usual just before peeling ends to increaseangle 144.

Once peeling has ended, the motion of clamps and grippers may bereversed, such that the peeled, empty pouch is pulled upwards throughthe dispenser. Once the clamps have reached their lowest position (orsooner), the lower clamp separates from the upper, releasing the flapand allowing the pouch to be removed and disposed of. The position ofthe cups may be reset to prepare for the next pouch.

In some embodiments to supplement the action of the blades in removingadherent portions of food from the inside walls of the pouch, othermethods and apparatus may be used. For example, using an actuator tovibrate or tap the film (preferably contacting its clean outer wall)between the pouch and blade or downstream of the blade, or vibrating theblade, can be useful. Passing the film (e.g., between pouch and blade)over a surface having ripples 176 such as that shown in the 3-D view ofFIG. 11(a) or the 3-D sectional view of FIG. 11(b), can cause food itemsto detach. The film may be caused to conform at least partly to thesurface by providing vacuum in direction 178 through a slot 180 (asshown) or holes in the surface, if the lateral tension in the film isnot excessive.

FIGS. 12(a)-(d) are elevation views of a method and apparatus used insome embodiments to grasp flaps 123 of pouch 132. In FIG. 12(a), theflaps are shown approaching the nip between two counter-rotating rollers182 rotating in directions 184 and 186, provided with surfaces whichattract the flaps to them (e.g., as the result of vacuum suppliedthrough apertures in the rollers (e.g., apertures only exposed at thebottom of the rollers), or as the result of other approaches discussedabove in the context of vacuum cups). In FIG. 12(b), pouch 132 has movedin direction 188 and the rollers have engaged the flaps and the flapsare attracted to and are conforming to the roller surfaces. In FIG.12(c), clamps 190 located below as shown, or to the sides of therollers, have moved in direction 192 and pressed against the flaps bytranslating and/or rotating, to sandwich the flaps between clamps androllers and positively grasp them. During this step, the rollers maycease rotating. In FIG. 12(d), the rollers, with the clamps still incontact, have separated in direction 194 to provide a space between themfor the food items to be dispensed. The rollers may continue to rotateas shown while the pouch descends, or remain in the orientation of FIG.12(c). In some embodiment variations, the rollers move so that the pouchfilm is pulled and directed over blade edges as in FIG. 8(i) and pulledas the rollers continue to move (e.g., along a track such as theJ-shaped track of FIG. 13(d)). In other embodiment variations, the pouchis peeled by continuing to rotate the rollers so that the walls roll uparound them.

FIGS. 13(a), (b), and (g) depict 3D views of a dispenser used in someembodiments which incorporates squeezers similar to that of FIG. 34 andblades 83, but employs another method and apparatus (and a modifiedpouch 199) for grasping and moving the flaps. In this embodiment, thepouch flaps are not the full width of the pouch as in the 3D view ofFIG. 13(c), but are cut (e.g., die or laser cut) or punched so there areareas where one flap does not overlap the other, and there is a gradualtransition 197 from the flap to the full width of the pouch wall, e.g.,using a fillet that avoids sharp convex corners. Such “partial” flaps196 and 198 can be grasped without first separating them, using clampswhich can move beneath the pouch and then move along a path that allowsat least partial peeling. They may also be shorter than normal flapssince reorienting them to reach peeler clamps is not needed (the clampstravel to the flaps instead). FIG. 13(c) also indicates other aspects ofthe pouch, such as a peelable seal 200 that is chevron-shaped at thebottom and includes the vertical portions at or near the pouch edges, aswell as a top seal 202 which may or may not be peelable. Differences inappearance of pouch 199 in FIG. 13(c) vs. other figures can be ignored.In the embodiment of FIGS. 13(a)-(g) the pouch may be introduced fromthe top of the dispenser, or introduced from the side and then lowered.

As shown in FIG. 13(a), two tracks 204 are provided having curvedsection 206 as well as straight section 208 (which may be angled, aswith the rods of FIG. 34) or a curved section (possibly with a differentradius than the straight section, or variable radius). At the lower endof the curved section a short straight (shown) or curved section 209 mayalso be provided, and may be shorter than shown. One track is locatedclose to one vertical edge of the pouch shown in FIG. 13(a), while theother is arranged with circular symmetry (around a vertical axis) closeto the opposite edge. Riding on each track (e.g., using linear bearings,now shown) are at least a trailing clamp 210 and a leading clamp 212which can move along the curved track but cannot rotate with respect tothe track. In some embodiments one clamp may be attached to the other(e.g., through a pivot) such that only one is directly guided by thetrack. The clamps are designed with lateral extensions 214 (FIG. 13(g))which allow them to grip the flaps along a wide area, while allowing thetracks to be outside the area in which food items will fall, avoidingcontamination of the tracks. As the clamps move upwards along the track,leading clamp 212 is leading and trailing clamp 210 is trailing. Theupper ends of the clamps may be provided with convex tips 216 to bettergrip the flaps when the clamps are not mutually parallel. Clamps may bepropelled along their respective tracks by an actuator and associatedhardware not shown, such as a motor fixed to the clamp which turns apinion that engages rack-like teeth on the track, or turns a frictionwheel that engages the surface of the track, or turns a winch that pullson a cable wrapping around the track, etc. Alternatively, clamps may beattached to a flexible member such as a cable, chain, or belt, or tohinged rigid members, and pulled or pushed along by an actuator locatedelsewhere. In some embodiment variations, only the trailing clamps areactuated and the leading clamps are urged toward the trailing clamps(once the leading clamp has moved partway along the track) by a springor other element, and thus are pushed along by the trailing clamps.

FIGS. 13(d)-(e) depict in elevation view how the flaps can be pinchedbetween the tips of the leading and trailing clamps on both tracks (FIG.13(d)) and then pulled apart so that the flaps contact the blade edges213 as in FIG. 13(e) after clamps have moved as shown by the dashedarrows. Further motion of the clamps as they climb the tracks will thenserve to peel the pouch. As is shown in the 3D view of FIG. 13(f), aslong as the clamps are widely separated when the pouch is loaded, thenthe flaps will enter the gap between the trailing and leading clamps,and regardless of the flap orientation, the clamps will be able to gripthem as long as they're long enough. In some embodiment variations, theclamps are actively moved to the positions of the flaps by sensing thosepositions using a sensor such as a camera and machine vision. In someembodiments pouches have more than two partial flaps that areinterleaved, such that clamps from one track can engage odd-numberedflaps and those from the other track can engage even-numbered flaps;this can provide a more uniform peeling force. In some embodiments thetracks may also serve to twist the clamps as they move. A dispenserbased on the design of FIG. 39, if intended mostly for a Type 1 or 2Afood item, may have shorter and possibly simpler (e.g., straight andhorizontal, or arc-shaped) tracks.

In some embodiments a dispenser with curved tracks can be used withpouches having full-width flaps if the flaps can be slightly separatedenough to allow clamps similar to those described above—or clamps whichare much narrower and which slide in horizontally—to grasp the flapsfrom both sides.

FIG. 14 depicts 3D views of a dispenser 218 used in some embodimentswhich incorporates squeezers and peelers similar to those of FIG. 8, butemploys another method and apparatus, and optionally a modified pouch,for delivering the pouch flaps to the peeler clamps, in lieu of movingvacuum cups or similar. The pouch 199 enters from the side of thedispenser in direction 220 as in FIG. 14(a), and in doing so the flaps222 are spread apart in directions 223 by a fixed (or moving) deflector224 such that the flaps enter the gap between upper and lower clamps(FIG. 14(b)). If the flaps are well aligned and the front end 225 of thedeflector is narrow, or if the flaps are initially separated slightly(e.g., by vacuum or air jet), then the deflector 224 can reliably fit inbetween them. However, in some embodiment variations, the flaps may beformed into a shape which facilitates this. FIG. 14(c) depicts a flapwhich has been formed into a D-shaped loop 226 and then sealed below(and possibly above) the loop to its neighboring flap with a temporary(e.g., peelable) seal 228 so that it retains this shape; in someembodiments the “D” shape of loop 226 may be much larger (e.g., the twoflaps may be joined together lower down, possibly even at the bottom ofthe non-formed flap. The deflector of FIG. 14(d) can then easily enterthe loop, peeling or otherwise separating the pouches at the seal as thepouch moves relative to it in direction 227. If the loop is not near theseal at the bottom of the pouch, the flaps may also be sealed togetherabove the loop.

Pouches that are peelable or otherwise allow their walls to be mostlyseparated allow for the most flexibility in dispensing and therefore canaccommodate the greatest variety of food items; however, pouchescontaining Type 1 or 2A items need only be able to be opened at theirbottoms. Universal dispensers which can handle Type 1, 2A, and 2B itemsare described above; however, in a machine handling a limited number ofitems, or using multiple dispensers (using different ones to handledifferent item types) this may not be required. A dispenser for a Type 1item only packaged in a pouch with a burstable seal might involve only asqueezer such as that of FIG. 8(b) or B. A dispenser for a type 2A itemmight involve only a peeler such as that in FIG. 8(c) and means forbringing the pouch flaps to the clamps such as vacuum cups or adeflector, while one for a type 2B item may add blades and have clampswith longer travel. Simpler means for opening non-burstable pouches withType 1 items or pouches with type 2A items may also be used, such asusing relatively large or multiple vacuum cups able to grasp the flapswith significant force and directly pull apart the flaps. Sucharrangements may also be used in peelers, which need a longer stroke.

Depending therefore on the type of food item and type of pouch,dispensers may therefore include any combination of means for graspingflaps (e.g., vacuum cups), means for pulling flaps apart (e.g.,peelers), means for squeezing the pouch (e.g., squeezers using squeegeesor bladders), and means for bending and redirecting the film (e.g.,blades). In some embodiments elements may serve more than a single rolesimultaneously.

FIG. 15 depicts a flowchart from start to end for dispensing a food itemfrom a pouch and into a receptacle such as a dish or cooking vesselaccording to some embodiments, and assumes a universal dispenser able todispense food items of all types, and use of a peeler to open the pouchregardless of the type. Multiple dispensers, each more specialized, canalso be used, with slight modifications to the process flow. Boxes inthe flowchart represent a series of action and decision steps which areboth carried out in a process and implemented in algorithms and codeexecuted by a controller. In box 1500, the gripper(s) (e.g. those shownin FIG. 8(e)) are moved to the location of a pouch that is to bedispensed. A map of pouch locations within the pouch storage area of thefood preparation system may be generated ahead of time (e.g., byscanning bar codes on each pouch) or a suitable pouch may be identifiedwhen needed (e.g., as the grippers, equipped with a means of readingdata from the pouch (e.g., a code contained in a bar code or RFID tag)approach a pouch). In box 1502, the grippers have grasped the pouch(e.g., on its upper edge/seal). In box 1504, the pouch is optionallyscanned and inspected to determine any information that is not alreadyknown. For example, the expiration date of the pouch, and the fooditem(s) within, may be known by the controller upon reading the code andreferencing a database. This data may be however verified at this timeas a precaution. The pouch may also be inspected for possible damage.For example, if a force sensor such as a load cell is provided in thearm to which the grippers are attached, and the pouch hangs freely fromthe grippers, the pouch weight can be measured and compared to anexpected or previous weight. Any significant weight loss likelyindicates a ruptured pouch. Or, the pouch may be placed in the view of acamera and machine vision system provided with algorithms that candetect color and/or shape changes that may indicate that the ingredienthas spoiled (e.g., signs of mold), has become crushed, etc. Assumingthat scanning and inspecting is performed, then in Box 1506, thecontroller determines whether the pouch has expired. If not, the processcontinues but if so, it is moved to a waste container (box 1508). Thesystem may regularly purge expired pouches so this determination isunnecessary. In Box 1510, the controller determines whether the fooditem is the correct one needed; normally that may be the case and theprocess continues but if not, the pouch is disposed of or optionallyre-classified if otherwise good and returned to storage. In Box 1512,the controller determines via sensor input whether the pouch contentsare damaged or spoiled. If not, the process continues, but if so, thepouch is disposed of. If the pouch is disposed of for any reason, theprocess starts over again. If the pouch passes all tests, it is moved tothe dispenser (box 1514).

Once in the dispenser the flaps are grasped (box 1516) and if notalready done, the controller determines (box 1518) the approach todispensing it will use, based on the food item type (1, 2A, or 2B). Perbox 1520, if the item is not Type 1, then it is necessary to determineif it Type 2A or 2B in box 1522. In box 1524, if the item is not Type 2B(thus, type 2A), the pouch is opened at its bottom seal (either fullyall at once, or partly/gradually, to control the outwards flow) todischarge the item, and time is allowed (box 1526) for the item to comeout. If the item is of Type 2A, then the pouch is peeled fully open (box1528) by the dispenser while the gripper moves to support the pouch andprovide tension in the film. With peeling completed, the peeling motionis reversed (box 1530). Per box 1520, if the item is Type 1, then basedon parameters of the specific ingredient (e.g., viscosity), thecontroller determines (box 1532) whether to peel open the pouch to itsfull width (and if so, how quickly) or just partially (e.g., forming anarrow funnel by partially peeling a chevron or diagonal bottom seal).If it is to be opened fully (box 1534), this is done by the peeler, anda speed is set for squeezing, also based on parameters of the specificingredient (e.g., if very viscous such as peanut butter, a lower speedmay be required to avoid stalling the actuator). If the pouch is to bepartially opened (box 1536), this is also done by the peeler, and aspeed also set for squeezing; this speed may be set lower than that usedwhen the pouch is fully open, since the opening is narrower and flowcannot be as rapid (if too squeezing is attempted, pressure of the iteminside may itself further open the pouch). In box 1538, the squeezer isactivated, in box 1540, time is allowed for the ingredient to completelyfall out, and in box 1542, the squeezer is reset to prepare for the nextpouch. Lastly, regardless of pouch type, the flaps are released (box1544) and the pouch is extracted from the dispenser and disposed of (box1546). In some embodiments, rather than merely waiting a certain timefor items to fall out of the pouch, the weight of the pouch or that ofthe receptacle into which the item is falling, can be monitored, andwhen the weight gain reaches a threshold indicating the pouch is emptyor nearly so, the process is allowed to continue. In some embodimentsthe pouch is accelerated or jerked upwards, vibrated, shaken, etc. justbefore the pouch is withdrawn from the dispenser and while thereceptacle is still in place. This can loosen any food item drops orparticles still clinging to the pouch and reduce the risk of it drippingor falling during withdrawal and contaminating the system.

Though an ingredient may be categorized of Type 1 or 2A, it may notadequately dispense if so handled, e.g., due to variations in thespecific food item, temperature, humidity, etc. Thus, weight loss of thepouch, weight gain of the receptacle, or motion of ingredients leavingthe pouch can be sensed, and if the evidence suggests ingredients remainwithin, then full peeling can be implemented according to the (slightlymore time-consuming) 2B approach.

Individual Pouch Storage

Individual pouches—as opposed to pouch chains—can be stored for use inan automated food preparation system in a number of ways. FIG. 16(a)depicts a 3D view of a feeder drawer 230 used in some embodiments tohold pouches, which can be removed by being picked up with grippers ontheir upper edges. Whereas a simple drawer may be translated entirely toposition a particular pouch beneath the grippers, the feeder drawer inFIG. 16(a) actively feeds pouches 232 toward a pickup end 234. In someembodiments of the feeder drawer, the pouches are provided withoverhanging hangers 236 (see the 3D view of FIG. 16(d)) at their topedges 233, and the hangers fit into the gaps between turns of helicalsprings 238 on both sides of drawer housing 240. The springs rest onledges 241 in the drawer housing near the top (see the 3D view of FIG.16(b)). By rotating the springs, the pouches are transported along themtoward the pickup end. The springs may be turned by short coaxial shafts242 at one or both ends which are motorized (e.g., they all may beturned by a single motor using gearing, belts, chains, etc.). If shaftsare provided at both ends, then the springs may be slightly stretched tokeep them straight. In some embodiments to reduce friction between thesprings and ledges, the springs are supported on long shafts 244 (atleast equal in length to the springs) that counter-rotate in direction246 beneath them as shown in the elevation view of FIG. 16(c); theseshafts may also deliver torque to the short shafts through gearing, etc.To facilitate insertion of the pouch hangers into the springs, andensure they are parallel and equally-spaced, a cap 248 (see the 3D viewof FIG. 16(d)) may be provided over each spring having funnel-likesurfaces 250 which direct the hangers between the turns of the spring.In addition to picking up pouches, the grippers can reject pouches bypushing them downwards and out of the housing (e.g., through a slot inthe floor), bending or breaking the hangers while so doing. Pouches withstiffeners near their upper edges, such as the pouch of FIG. 28(a) butwith the top seal bent portion extended outwards to overhang the pouchon both sides, may be advantageous. Drawers may be stacked in multipletiers and translated short distances along their long axes to providegripper access to the pickup ends of drawers below.

FIGS. 17(a)-(d) depict 3D views of pouch storage wheels 251 whereinpouches 252 are arranged in a circular pattern around a hole 253 and canrotate in directions 249. In FIG. 17(a), a single wheel with ahorizontal axis is shown in which pouches may be withdrawn in direction254. FIG. 17(b) shows a section view of the same wheel, while FIG. 17(c)depicts a group of three wheels which may be rotated independently organged together. FIG. 17(d) depicts a vertical axis wheel with inner andouter ring-shaped walls 255 and a ring-shaped floor; pouches may beloaded or withdrawn in direction 257 or the opposite direction (throughapertures in the floor). The wheel rotates in directions 261. Not shownare dividers which are used in some embodiment variations to separatethe pouches from one another. Though pouches may generally belightweight (e.g., 0.25-0.5 lb.), in horizontal-axis wheels, pouches onthe lower portion of the wheel might normally slide out. To preventthis, clips such as spring clips (not shown) can be provided to retainthem, yet allow removal when the pouch is grasped by grippers. As shownin FIG. 17(a), pouches can be removed from the top (12:00) position ofthe wheel by pulling them out in direction 254, parallel to their majorsurfaces. This allows for example a pouch to be retrieved from a wheelbelow the level of the dishes and pulled up into a dispenser above thedishes. However, pouches can also be pulled out at other angles such asthose shown in FIG. 17(b), wherein the pouches may first be withdrawnparallel to their major surfaces and then redirected vertically upwardsin direction 256, if needed to be transported vertically.

FIGS. 18(a)-(c) depict 3D views of a shelf-like storage device forstoring pouches, having a front 257 and a rear 259. FIG. 18(b) is asectional 3D view, while FIG. 18(c) is a closeup view of an areaoutlined in FIG. 18(a). The shelf comprises a housing 258 and aplurality of individual cubbies 260 equipped with supports 262 which areangled such that a pouch inserted into the rear of the cubby top endfirst and placed onto the support will slide downwards until its upper,leading edge rests against stops 264 (as shown in the 3D view of FIG.18(d)) at the front end of the cubby. Other designs of stops may beused, such as stops which intercept the upper edge when it is close tothe support, but which allow the pouch to easily pass through when theedge is raised. In some embodiments motion of the pouches (e.g.,lightweight pouches) can be assisted by vibrating the shelf, etc.Pouches in all cubbies will all have their top edges at approximatelythe same position, facilitating grasping by the gripper(s), regardlessof pouch height/length, which may vary according to the item inside. Toensure that the gripper(s) can positively grasp the top edge of thepouch, cutout 266 is provided at the lower end of each support. Oncegrasped, the pouch can be pulled out of the cubby by a motion that ishorizontal, parallel to the support, or similar. Since the pouches areflexible, their edges can deform temporarily when the pouch is pulled sothat they clear the stops. For transportation of a shelf containingpouches, a panel can be placed over the front surface of the shelf toretain the pouches in case vibration or shock would otherwise cause themto move significantly.

A pouch such as that of FIG. 1 may be loaded at the rear of a cubby suchas that of FIG. 19(a). Cubbies need not be self-contained as in FIG.19(a) but can be a portion of a monolithic shelving unit, shelf, ormodule, in which case the sides 267 of the cubby (adjacent to the rampsin FIG. 19(b)) may not be needed, if other elements prevent sidewaysmovement of the pouch. Then, if the cubby is tilted (e.g., 10-40 degreesfrom the horizontal) and possibly, through the use of vibration (e.g.,for lightweight pouches), the pouch will slide until its upper edge(near the top seal) comes to rest against the stops, establishing aknown, repeatable position within the plane of the support. Vibrationmay be imparted to pouches to help them—especially those lighter inweight—to move downwards and rest their upper edges against the stops(FIG. 19(c)). This vibration can be done during pouch loading, beforepouch use, or just before pouch extraction from the cubby. Suchvibration may be imparted in various ways including i) incorporating avibrating device in the grasper, and making contact with the cubby totransmit vibration to it; or ii) incorporating a vibrating device in theentire shelf, a shelf module, or an individual cubby. In someembodiments vibration isolation (e.g., supporting springs) may be usedso that only the element of interest is vibrated, not other elements inthe system.

The stops are designed to be wide enough to prevent the pouch fromtravelling too far, but narrow enough to allow the pouch to deform so itcan be pulled out of the cubby through gaps 269 (and the center regionof the cubby which is free of ramps) by graspers or similar meansintroduced at the front of the cubby (FIG. 19(d)). Since heavier pouchesmay, due to their momentum as they slide, continue past the stops, itmay be preferable in some embodiments to use a smaller angle from thehorizontal, accompanied by vibration of the cubby. In some embodimentsthe top seal of the pouch may be stiffened (e.g., by bonding one or moreextra thicknesses of material to it).

In some embodiments cubbies such as those in FIG. 18 may be providedwith one or more ramps located near the end of the cubby at which thepouch is extracted. In the 3-D views of FIGS. 19(a)-(f), cubbies withtwo ramps 268 (upper) and 270 (lower), as well as bottom supports 262,cutouts, 266 and stops 264, are shown. The ramps—located only near thevertical edges of the pouch (see FIG. 19(b)), outside the sealed volumeso they don't block passage of the pouch—serve as funnels, guiding theupper edge of the pouch to a known position along an axis perpendicularto the plane of the cubby support (in the figure, to a position halfwayup the cubby). Thus, through a combination of the tilted surface of thecubby support (and optional vibration), the stops, and the ramps, thepouch moves to a position in which the jaws 272 of grasper 274 mayrepeatably engage the pouch through the cutout as in FIG. 19(d), withoutthe need, in some embodiments, for active sensing. However, in someembodiments sensing of the pouch position relative to the cubby orgrasper jaws may be implemented using approaches that includemechanical, optical, and capacitance-based sensing.

As shown in FIG. 19(d), grasper 274 may comprise grasper jaws 272,grasper fingers 276, a grasper body (e.g., actuators such as pneumaticcylinders 278 and mounting components), and a rotary actuator 280 suchas a geared stepper which rotates grasper 274 around pivot 282 so as toadjust the pouch angle to closely match the cubby, dispenser, etc. Toreliably grasp pouch 284 without slipping, the inner surfaces of thejaws may be covered with a material such as 3M Gripping Material (3M,Saint Paul, Minn.), a soft elastomer, etc. Cubbies may be individual asin FIGS. 19(a)-(d) or may be designed without a top as in FIGS.19(e)-(f) so when stacked vertically, the support of one cubby serves asthe top of another below it.

In some embodiments cubbies such as those in FIG. 18(a) or FIG. 19(a)may be provided which can hold more than a single pouch each, which cangreatly increase the number of pouches that may be stored in a singlefood preparation machine. For example, several pouches may be arrangedin tandem (in the sense of tandem parking for cars: one pouch in frontof another), with provision made to load one or more pouches into acubby at a time, and release one pouch at a time from the cubby. Poucheswithin the cubby may at least partly overlap other pouches. While allpouches in a given cubby may contain the same ingredient in someembodiments, in other embodiments, different ingredients (e.g., theingredients used to make a particular dish) accessed in a particularorder may be loaded into and removed from a single multi-pouch cubby.

In some embodiment variations, gates/barriers/stops may be providedwithin the cubby which prevent pouches behind the “lead pouch” (thatnearest the front cutout (FIG. 18(c), 19(a)) from moving to the leadposition until the lead pouch has been removed from the cubby at leastpartially. Such gates can be opened by withdrawing them horizontally orvertically, rotating them (e.g., if shaped like a partial cylinder),flattening them (e.g., deflating if inflated, collapsing by applyingvacuum), etc. FIGS. 20(a)-(n) depict cross-sectional elevation views ofa sequence for loading and unloading a tandem cubby holding threepouches, and comprising support 286, stop 288, and two moving gates:Gate 1 (290) and Gate 2 (292) (shown for clarity as moving up and down,but may rotate, etc.). In FIG. 20(a), pouches have yet to be loaded intothe cubby. In FIG. 20(b), Pouch 1 (294) has been inserted, and since nogates are closed, it slides until its top edge 295 contacts the stop asshown in FIG. 20(c), where it awaits being grasped and removed. In FIG.20(d), Gate 2 has been closed in direction 297 behind Pouch 1 (294) sothat when loaded, Pouch 2 (296) cannot prematurely enter the space nowoccupied by Pouch 1. In FIG. 20(e), Pouch 2 has been loaded, and hasslid to the position behind Pouch 1 in FIG. 20(f); Gate 1 has then beenclosed behind Pouch 2. In FIG. 20(g), Pouch 3 (298) has been loaded,while in FIG. 20(h), Pouch 1 has been grasped and removed. In FIG.20(i), Gate 2 has opened in direction 299 allowing Pouch 2 to slide tothe stop. In FIG. 20(j), Gate 2 has closed in direction 301 behind Pouch1 in preparation for allowing Pouch 3 to advance. In FIG. 20(k), Gate 1has been opened, allowing Pouch 3 to slide so it is just behind Pouch 2.In FIG. 20(l), Pouch 2 has been removed, and in FIG. 20(m), Gate 2 hadopened allowing Pouch 3 to slide to the stop. Finally, In FIG. 20(n),Pouch 3 has been removed. As the motions are clear, not allmotion/direction arrows have reference numbers.

If the cubby support (i.e., floor) 286 is covered with a high frictionmaterial (e.g., rubber, 3M Gripping Material) such that pouches cannotnormally slide even though the support is tilted, then vibrating thesupport (e.g., with inexpensive cell phone-type vibration motors) or theentire cubby may be used to control feeding of pouches toward the stop.For example, if the support is subdivided into separate sections (e.g.,there are three supports, one for each pouch in a three-pouch cubby) andif each support is provided with its own vibration source, then bycontrolling these individually, each pouch may be fed to a desiredresting location with the cubby without disturbing other pouches. Asequence for loading and unloading a tandem cubby using this principalis shown in the cross-sectional elevation views of FIGS. 21(a)-(n). InFIG. 21(a), three tilted, substantially coplanar supports A (302), B(304), and C (306) are shown, and stop 308 similar to stop 288 isprovided. Supports A, B, and C need not be separate elements, but can bea single element able to vibrate differentially in different regions, orcomprise multiple elements joined by a continuous surface that allowsfor independent motion of the supports (e.g., a thin film, elastomer).In FIG. 21(b), Pouch 1 (298) has been inserted onto Support A andSupports A, B, C are vibrated (e.g., along the direction 310 shown, orparallel to the support surface, or in another or in multipledirections) so that the pouch can cross the entire cubby. In FIG. 21(c),Pouch 1 has traveled to Support B after which vibration (similar arrowsas 310) of Support A has (optionally) ceased as it is not currentlyneeded, while both Supports B and C are vibrated so that pouch cancontinue to move forward. In FIG. 21(d), Pouch 1 has traveled to SupportA and come to rest against the stop, where it is ready to be grasped andremoved, and vibration is stopped. In FIG. 21(e), Pouch 2 (296) has beeninserted onto Support A, which along with Support B is vibrating so that(as shown in FIG. 21(f)), Pouch 2 can slide to Support B. In FIG. 21(g),Pouch 3 (298) has been inserted onto Support A while it is vibrated (ifneeded), and in FIG. 21(h), vibration has stopped. At this time, allthree pouches are loaded in the cubby.

In FIG. 21(i), Pouch 1 has been removed from the cubby. In preparationfor being grasped, in FIG. 21(j) Supports B and C are vibrated and Pouch2 has advanced to the stop. Support A may also be vibrated, so as toachieve simultaneously what will occur in FIG. 21(k). In FIG. 21(k),Supports A and B are vibrated to allow Pouch 3 to move forward toSupport B. In FIG. 21(l), Pouch 2 has been removed, and Supports B and Care vibrated so that Pouch 3 can move to Support 3. In FIG. 21(m), Pouch3 has come to rest against the stop and vibration has ceased. Lastly, inFIG. 21(n), Pouch 3 has been removed.

Approaches such as those in FIGS. 21(a)-(n) may be implemented using themachine controller to either open and close the gates, or turn on andoff vibration.

Other methods of loading multiple pouches into a cubby and fetching thepouches are used in some embodiments. For example, the cubby support 311may be covered with a conveyor belt 312 running over outer pulley 313and inner pulley 316 which is optionally provided with regularly-spacedflights 314 as in the cross-section elevation view of FIG. 22(a). Theflights project from the belt and can help to avoid pouches overlappingone another; in some embodiments they are not continuous across thewidth of the belt, but only wide enough to engage pouch 316 near itsedges (much like the stops of FIG. 18(d)), and may in some embodimentsserve as stops. The belt may be moved actively in direction 318 or inthe opposite direction (for loading pouches by the inner end) by a motoror other actuator in some embodiments, while in other embodiments (e.g.,if supported by low-friction bearings) the belt may be made to movepassively (e.g., due to the weight of pouches placed on it). To preventthe belt from passively moving more than intended, a mechanism (e.g.,spring-loaded) can be provided that is actuated by the weight of thepouch when it is near the front (right end in FIG. 22(a)) of the cubby,or by the pouch's front edge, preventing belt motion when actuated. Oncea pouch has been removed, the belt moves again if there is a pouch on ituntil that pouch reaches the front. If the belt is moved actively, itcan be moved based on sensing of pouches on the belt, or the machinecontroller—which normally will “know” how many pouches are in a givencubby and how many have been removed from it—will advance the belt whenneeded, or simply advance it after every pouch is removed, regardless.In some embodiments the belt need not be tilted as shown, but can behorizontal for example.

In some embodiments, rather than provide multiple actuators or usepassive movement of a belt, the belt is designed to not move on its own,and the grasper—used to remove pouches from the cubby and bring them tothe dispenser—may also be used to advance pouches within the cubbies.For example, in the cross-sectional elevation view of FIG. 22(b), whilethe jaws 320 of grasper 322 have closed on the top edge of the pouch, ahook 324 fixed to the body of the grasper engages a flight behind thepouch. When the grasper moves to withdraw the pouch, the belt is alsoforced to move in direction 326 as the flight is advanced. FIG. 22(b)depicts the configuration after the pouch—which had previously beenresting against another flight—has already moved forward partway. Insome embodiment variations, the belt moves only when pulled and thenstops quickly, while in other embodiment variations, once tugged by thehook, the belt is provided with a mechanism that keeps it moving untilit reaches the next detent position (at which the next pouch is ready tobe grasped). In some embodiments, pulley 315 can be driven through acoupler by an actuator fixed to grasper 322.

In some embodiments pouches located within a single tandem cubby can beaccessed regardless of their position by arranging for the grasper toreach far into the cubby. The grasper body may be made long enoughand/or openings may be provided in the cubby to allow access of thegrasper as well as its support structure.

In some embodiments the grasper is able to load pouches into cubbieswhen so commanded by the machine controller, not only remove them. Thiscapability allows pouches (e.g., multi-compartment pouches) whoseingredient has only been partly dispensed, to be replaced in a cubby. Italso allows the machine to load pouches that are supplied to it in adifferent format than already within a cubby (e.g., within a box) toarrange pouches in cubbies for easy and rapid access, and to re-arrangepouches within cubbies by removing them from some cubbies and replacingthem in other cubbies. If pouches are stored more or less vertically(similar to the those in the drawer storage unit of FIG. 16(a)-(c)),then pouches can be simply lowered into position. If, however, pouchesare stored in tilted cubbies such as those in FIG. 18(a) or 19(a)),loading requires in some embodiments additional apparatus. FIGS.23(a)-(f) depict cross-sectional elevation views of a sequence in whicha grasper 328 with grasper jaw 330 is provided with a pouch “paddle” 332to allow loading a cubby with a pouch 334. The pouch support may havethe form of a flat continuous paddle, one or more relatively rigid,possibly slender rods, or similar, and may be moveable (e.g.,retractable as shown) if the grasper continues to hold the pouch duringdispensing (in other embodiments a different grasper may be used) andthere is an interference between paddle and dispenser components (e.g.,the squeegee of the squeezer). In FIG. 23(a), a pouch is held by jaws330 with the paddle retracted, while in the next step of FIG. 23(b),paddle 332 has been extended in direction 333. In FIG. 23(c), grasper328 has rotated in direction 335 to approximately match the angle of thecubby into which the pouch will be loaded; pouch 334 is held in thisorientation paddle 332 beneath it, which may only support it in a narrowarea (e.g., down the center of the pouch). In FIG. 23(d), the pouch hasbeen loaded into a cubby, and inserted far enough that the upper edge isbeyond the cubby stops. In FIG. 23(e) the grasper jaws have opened,releasing the pouch, which then can slide down until its upper edge isagainst the stop as in FIG. 23(f). Also in FIG. 23(f), the grasper hasmoved away from the cubby and the paddle has retracted. In someembodiments paddles may be at least partially extended when removing apouch from a cubby, to prevent the pouch from suddenly tilting to avertical orientation if that is undesirable.

If pouches are loaded into cubbies by a technician, the bar code, RFID,or other identifying, machine-readable code on it can be scanned bypassing the pouch before a scanner before loading it into a cubby. Theentrance to the cubby can be provided with a sensor (e.g.,photoelectric) so that the controller knows in which cubby thejust-scanned pouch is placed. If cubbies are loaded by the machineitself (e.g., from a box left inside the machine by a technician makinga restocking visit), then pouches can be scanned (e.g., passing thembefore a fixed scanner) just before placing them into cubbies, and sincethe controller knows which cubby receives which pouch, the sensor maynot be needed. In some embodiments, pouches are loaded into cubbiesrandomly, and then scanned to identify which ingredients are where, aswell as pouch parameters such as expiration date; a scanner for thatpurpose may be incorporated into the grasper or associated hardware, ormay be more remote if it has a longer working distance (e.g., along-range barcode reader).

In some embodiments, shelves may comprise cubbies, while in otherembodiments, shelves may comprise modules which comprise cubbies. In thelatter embodiments, modules serve as smaller shelving units which can bea) combined to form larger shelves; b) can be individually removed andreplaced in the machine; c) can mutually interlock to facilitatetransporting several modules at once. Modules or shelves may also beinsulated, and may include doors (e.g., rollup or accordion-style) toprevent possible loss of pouches during transportation and maintaininternal temperatures better. Shelves or modules can be collapsible(e.g., accordion-style) or be rigid, and can be reusable or single-use.

In some embodiments, cubbies, modules, or entire shelves may be able totilt temporarily for loading so that when loading a pouch from the“front” (i.e., exit end) of a pouch, the cubby is oriented with thecubby exit is the highest region of the cubby, rather than the lowestregion as usual. In some embodiments, the pouch may be swung whilehanging from the grasper as in FIG. 23(a), or suddenly decelerated, sothat its lower end (i.e., the flaps) enter the cubby.

FIG. 24(a) depicts an elevation view of a pouch storage systemcomprising a set of pouch boxes 336 which are attached to a continuousbelt (or chain) 338 through pivots 340, allowing them to remain uprightas the belt moves. Boxes can contain a significant number of pouches andca have a controlled environment within (e.g., temperature, humidity)that is specific to the ingredients within. Boxes are preferably spacedapart such that they can move without mutual contact. In someembodiments, pouch boxes can be manually loaded by rotating them aroundtheir pivots (e.g., by 90 degrees) or around other pivots, or bydisconnecting one end and swinging them out (e.g., around a verticalaxis) to provide access. Boxes can also be fully detached from thechain, allowing them to be quickly replaced (e.g., with a box full offresh pouches). Boxes may be subdivided into other boxes, and may beinsulated to keep their contents at temperature while being transported.Boxes may include doors (e.g., rollup or accordion-style). Boxes can beloaded in bulk elsewhere, e.g., automatically just after they aresealed, and then brought to the machine and quickly attached to the beltduring restocking.

The belt is supported and moved (e.g., bidirectionally per arrows 341 asshown) by pulleys 342 at the top and bottom. A machine using such astorage system can include at least one storage system such as that ofFIG. 24(a) (e.g., on either side of a dispenser and dish transport). Insome embodiments, pouch boxes (which may be elongated) are supported bypivots and belts at both ends; only one belt and set of pivots can beseen in the figure, however. Pouch boxes may contain pouches in anydesired orientation (e.g., tilted as shown in FIG. 18(a), but in theexample shown, pouches are arranged vertically within the box, like theyare shown in FIG. 16(a), with their top seals at the top. However, inthis case they may have no hangars to support them within the box.Rather, they may rest on their flaps, be retained by clips (e.g., madefrom compliant material such as spring steel) which allow them to beinserted or removed from either the top or the bottom of the box, orthey may be held within cavities shaped like the pouch itself, and whichsupport the pouch around the chevron seal so as to minimize weight onthe flaps, which may distort them.

When a pouch box is at the top of the belt, pouches 344 inside can beaccessed by using a grasper 346 to grasp the top seal area of the pouchand then withdraw it in direction 348. While the grasper may need tomove in and out of the plane of the figure to access different pouchesin a box, it need not move over a large vertical distance.

FIG. 24(b) depicts a similar system but in which the use of extrapulleys allows multiple boxes to be accessible at the top; thisfacilitates transfer of pouches from one box to another. Moreover, thereis now enough space so that the dispenser 350, dish 352 (with dishtransport, not shown), and waste bin 354 can be included within the loopformed by the belt of boxes. In this configuration, pouches can begrasped by the grasper and—assuming the pouch box allows for pouches toexit from its underside—decoupled from the box and lowered into thedispenser below where the ingredient can be dispensed. Since the boxescannot easily move in and out of the plane of the figure, the grasper,dispenser, and dish are designed so they can move along that axis, thusallowing any pouch to be accessed. Alternatively, the box may contain afeeding mechanism for pouches such as rotating springs 238 of FIG.16(b), which bring the pouches to a specific location and then may dropthem through an aperture in the box floor. Preferably, the grasperaccesses the pouch without passing through the box and may be attachedto the dispenser; thus, once one pouch is accessed, the system can moveso as to prepare to access another pouch (e.g., in another box). In someembodiments a first grasper descends through the box and thenimmediately hands off the pouch to a second grasper (e.g., as in FIG.27) such that the first grasper can exit the box quickly, allowing suchpreparation. However, in some embodiments only one grasper is used,either entering the box from above or from below. If the latter, pouchesmay be loaded into the boxes inverted (top seal down) and the grasper isable to invert the pouch before using. In some embodiments pouches arepushed out of the box by a mechanism (e.g., located above) and fall intomechanism which allows them to be held during dispensing, e.g., by agrasper that is part of the dispenser. In some embodiments the firstgrasper, dispenser, and second grasper are able to move along an axisperpendicular to the figure, while the boxes, waste bin don't move alongthat axis. The dish may move along that axis for some purposes (e.g.,delivery to the customer) but in these embodiments doesn't have to movebetween ingredients, since the dispenser can move over the bin (e.g.,located behind it, along that axis) to drop an empty pouch, etc. Inthese embodiments, a dispensing sequence may involve 1) moving thedispenser under a specific pouch; 2) bringing the pouch into thedispenser; 3) moving the dispenser over the dish; 4) dispensing; and 5)moving the dispenser over the bin to discard the pouch. If the dispensermoves, it may be split into two portions such as in FIGS. 40(a)-(b). Insome embodiments the bottom of each box is open and pouches may beretained, e.g., by spring clips which hold them by on their verticalseals; this allows a grasper to simply push pouches straight down intothe dispenser (which can to move perpendicular to the plane of thefigure to select the intended pouch).

FIG. 24(c) depicts an arrangement similar to that of FIG. 24(b), but inwhich the belt follows a more complex path that allows moreboxes/pouches to be included within the machine without excessivelyincreasing its height. FIG. 24(d) shows a cross-sectional elevation viewof a pouch box having within it a number of pouches, held in place byretaining clips 353, which can be spring-like. In the figure, one pouchis being lowered into the box by a grasper, while another pouch is beinglowered out of the box and is about to enter a dispenser.

In some embodiments pouch boxes are not attached to a belt, but aresimply stacked vertically (e.g., along one or more sides of themachine). In such a case, boxes are actuated to individually slideoutwards (e.g., one at a time) and back so that their contents can beaccessed, somewhat like a file drawer can open and close.

In some embodiments pouches are placed in pouches with their top seals356 down, and are withdrawn from the bottom of the box by grasper 346held by support 358. The grasper can flip them over so their flaps areat the bottom before introducing them into the dispenser. Or, the pouchcan be allowed to fall onto a specially-shaped chute or other surfacethat catches them momentarily, allowing them to be grasped, or causesthem to tilt and at least partially invert, facilitating grasping of thetop seal, etc. In some embodiments clips retaining pouches are releasedby a mechanism near the dispenser.

Machines having multiple dispensers (e.g., each with a differentingredient) may be configured similarly to those of FIGS. 24(a)-(c), butwith fewer boxes per dispenser (e.g., just one as shown in FIG. 25). Insuch a machine, the pouch box may be arranged to move along an axisnormal to the plane of the figure, or can rotate if shaped like thepouch holders of FIG. 17(a) or 17(d), or may use pouch feeders such asFIG. 16(b). Pouches may be arranged in the box with their top seals 356up as in FIG. 24(d), or can have their top seals down (e.g., internallythey can include ramps such as those in FIG. 19(b)) and are pulled fromthe bottom of the box by the grasper shown, then flipped over beforeentering the dispenser.

In some embodiments machines may store ingredients in highly-insulatedchambers (e.g., vacuum or aerogel-insulated) to reduce the powerconsumption required for operation, and allow ingredients to remainedible even after a power failure of reasonable length. Such machinesmay incorporate a “cold” fetching system that works entirely within thechamber, and which brings pouches to an external pouch transport systemwhich can bring the pouch to the dispenser and possibly participate indispensing its contents. Pouches may pass through a single opening inthe chamber that is normally kept closed, and which may incorporate adouble door.

Second System

A system intended to serve multiple customers, using shelves and asingle dispenser such as that of FIGS. 8(a)-(k), is shown in the 3Dviews of FIGS. 26(a)-(g). In the front view of FIG. 26(a), majorcomponents of the system are shown. Four shelves 360 of the kind shownin FIG. 44 are provided, two on each side of the system, though more orfewer can be used. While this arrangement of shelves may be suitable fora vending-type kiosk, other arrangements may be more suitable for otherformats. For example, in a food truck format for preparing foodautomatically, there may be shelves against the driver's side of thetruck and dispensers along the passenger/delivery window side of thetruck. In the current arrangement, space may be provided between pairsof shelves as shown to allow for windows in the enclosure which permitcustomers to view the meal preparation process from the sides of themachine if desired. Dispenser 362 is located toward the center of thesystem in the embodiment shown, with waste bin 364 in front of it, andwith a “mise en place” pouch holder 366 (designated “MEP”) and pouchheater 368 behind it. The waste bin may be used to hold empty pouches,or pouches which have been rejected (e.g., pouches past their expirationdates). The bin may be larger than shown and may advantageously belocated close to the dispenser to minimize the likelihood that any foodresidue remaining on a pouch will fall or drip elsewhere than into thebin. The MEP may be used to temporarily hold pouches that have beenfetched from a shelf and which will shortly be used in the preparationof a meal; it may comprise individual compartments separated by dividers371, which support pouches in a substantially vertical orientation,allowing the system's grippers to easily deposit a pouch into acompartment and retrieve it later. The heater may be used to heat thecontents of pouches before they are dispensed, though in someembodiments ingredients may be heated while still in the shelves, oronce dispensed into a dish. The heater may comprise apparatusimplementing one or more heating methods such as microwave/RF heating,immersion in a hot water bath, a convection oven, etc. that arecompatible with the materials of the pouch and the ingredients within.The heater may also comprise individual compartments separated bydividers as shown, and a moveable, actuated lid, such as sliding lid 370seen in FIG. 26(e), which in the case of microwave heating, for example,provides a radiation barrier. In some embodiments the MEP and heater maybe combined into a single unit.

Below the dispenser is dish 372, which can be moved by a dish transport374 allowing the dish to be located under the dispenser in one or morepositions and/or orientations such as toward the front of the system(e.g., if empty dishes are manually inserted by the customer, or fordelivery to the customer of a meal), etc. In some embodiments thetransport may provide two or more axes of motion, such as both X and Y(per the coordinate system on FIG. 26(a)), or Y and rotation about the Zaxis. Below the dish transport is service module 376 which may houseelectronics such as the system controller and power supplies, as well asrefrigeration equipment that maintains the system or portions of it atthe required temperature, vacuum pumps, etc.

In the embodiment shown, pouches 378 are transported by a manipulatorcomprising graspers 380 having grippers (e.g., pneumatic) fixed to arotary actuator 381 similar to 280 supported by arm 382 which is movedalong the X, Y, and Z axes by X (384), Y (386), and Z (388) linearstages, respectively. In other embodiments, other stages, includingthose with rotary joints may be used. The rotary actuator allows pouchesto be fetched either from (or in some embodiments returned to) shelveson left or the right side of the system, and allows the pouch to bere-oriented vertically (e.g., FIG. 26(d)) to reduce the effective widthof the grippers so they can enter the dispenser and descend within it,and more optimally orient pouches for insertion into the heater, MEP,and waste bin. A vertical gantry configuration is depicted in FIG.26(a), comprising two X axis stages (one at or near the top of theapparatus, and one at or near the bottom), which move a Z stage, whichin turns moves a Y stage. The arm is attached to the carriage of the Ystage in the embodiment shown. The system is enclosed by panels, severalof which are shown in FIG. 26(a). The X stages are fastened to rearpanel 390, and access panels 392 are provided on the sides of the systemwhich can rotate to provide access to the rear of each shelf, allowingpouches can be loaded individually or in groups. Alternatively, entireshelves may be swapped out (e.g., an empty shelf for one that ispre-loaded with pouches), speeding up the restocking procedure for themachine. Mounted to the arm or to the rotary actuator (e.g., between thegrippers) in some embodiments is a camera or scanner (optical, RFID,NFC, etc.) which can be used to read codes on the pouch before graspingit (or at other times, such as during an inventory-recording mode of thesystem). The camera/scanner may be mounted so it can function regardlessof the orientation of the rotary actuator.

FIGS. 26(b)-(g) depict 3-D close-up views of steps in a process wherebya pouch is fetched from the cubby of a shelf, delivered to the heaterfor heating (assuming the ingredient (e.g., black beans for a burritobowl) requires heating), then brought to the dispenser to dispense thefood item, and then carried to the waste bin to dispose of the emptypouch. In FIG. 26(b), the controller has rotated the rotary actuator sothat the jaws 394 of grippers 396 are substantially parallel to support262 and the pouch, and well oriented to grasp the upper portion of pouch378. The controller then moves the grippers close to the pouch andwithin the cutout 266 of the cubbies, then closes the jaws in directions398 around the upper portion (e.g., top seal) of the pouch, grasping it.In FIG. 26(c), the controller has moved the arm 382 using, for example,the X and Z stages (e.g., parallel to the support and the gripper jaws),pulling the pouch out of the cubby along direction 400 (e.g., parallelto support 262) while deforming it slightly to release it from the cubbystops. Depending on the design of the cubby stops, the controller mayalso raise, lower, or (if a twisting axis is provided) twist the gripperpouch slightly to help release it from the cubby. In FIG. 26(d), thepouch has been completely removed from the cubby and the controller hasreoriented the rotary actuator in direction 402 so that the pouch ishanging vertically. In FIG. 26(e), the controller has moved thenecessary stages so that the pouch is above a compartment of the heaterand is being lowered into it, between dividers 371. While the pouch iswithin the heater, it may be held by the grippers, or else the grippersmay release the pouch to allow the heater lid to be closed if needed. Ifthe pouch does not require heating and is dispensing from it is notimminent, it may be placed in the MEP instead of the heater.

In FIG. 26(f), the controller has caused the pouch to be re-gripped (ifit had been released) and using the necessary stages (e.g., Y and Z) hasthen removed the pouch from the heater (having had its contents heated),and has started to insert it into the dispenser. The controller has alsomoved a dish below the dispenser using the dish transport. During thedispensing process, the pouch may continue to be supported by thegrippers. For example, if the pouch contains a Type 2B ingredient, thegrippers may descend inside the dispenser as the pouch walls are peeled.In FIG. 26(g), the controller has removed the pouch from the dispenserusing the necessary stages (e.g., Y and Z) and positioned in within thewaste bin. Lastly, the controller opens the gripper jaws (not shown),dropping the pouch into the bin. If no further ingredients are to beadded to the dish, the controller may move it forward (not shown) usingthe dish transport for delivery to the customer.

In some embodiments the rotary actuator or grippers may incorporate atleast one paddle which can support the pouch from underneath when it isnot vertical, e.g., when it is in the position shown in FIG. 26(c). Thepaddle allows pouches to be inserted into cubbies by the manipulator, inaddition to being able to remove them from cubbies. Thus, a system withat least one paddle and in some cases, a camera, machine visionsoftware, and/or additional degrees of freedom, can take pouchesprovided to it (e.g., in a box) and automatically insert them intocubbies, while recording the location and data about each pouch thusinserted. This may allow for faster system resupply than having atechnician insert pouches into the cubbies manually.

The manipulator may also fetch and move pouches where are not insertedinto the dispenser, but rather, placed into a chute or deliverycompartment directly. Such pouches include ingredients which thecustomer requests to be “on the side” such as a sauce or a saladdressing, pouches which are close to expiration which are to be given tocharity unopened, etc. The system can also dispense unpackaged items(e.g., fruit such as bananas) if they can be grasped, cutlery andnapkins (e.g., packaged in a pouch), beverages (e.g., Capri Sun, KraftFoods) in pouches, or snacks in pouches (e.g., trail mix, chocolates).In some embodiments the manipulator can dispense items in other than inflexible packages, such as in bottles. Grocery items, ready-to-eatmeals/snacks, and packaged components of meal kits (e.g., to be used forhome cooking) are among the items that can be provided to a customer.

In some embodiments the system may incorporate at least one additionalmanipulator, e.g., a secondary manipulator (e.g., one able to move in Yand Z) which can take over some of the functions of the dispenserdescribed. For example, the primary manipulator may fetch pouches from acubby and deliver them to the MEP or heater, while the secondarymanipulator may remove them from the MEP or heater, bring them to thedispenser, participate in dispensing their contents, and move them tothe waste bin. If the work envelopes of multiple manipulators overlaps,the system controller, knowing (e.g., through sensor feedback) theposition of all elements of each manipulator, can issue commands thatavoid any collisions.

In some embodiments systems similar to that of FIG. 26 may incorporatemore than a single dispenser, single MEP, single heater, single dishtransport, etc., single primary manipulator, etc. System elements suchas these, as well as shelves and other elements, may be shared. Forexample, a system designed to prepare two meals at once and equippedwith at least dispensers may draw pouches from a common shelf or set ofshelves.

Pouch Grasping and Fetching

Grasping the top of the pouch repeatably and symmetrically (e.g.,grasper centered on the pouch, pouch inserted into grasper the samedistance everywhere) from a cubby like that of FIG. 19(d) can bechallenging if the pouch doesn't slide against the stops evenly on bothsides, slides preferably to one side or the other, or is insertedoff-center, etc. Correcting this can be achieved in various ways,including i) vibrating the cubby so that the pouch settles at the stopsmore symmetrically (and optionally, detecting this condition withsensors such as optical or mechanical switches); or ii) enabling thegrasper to rotate about an additional axis, so the grasper can be madeparallel to the pouch edge (the edge orientation can be sensed, e.g., byswitches built into the grasper). In some embodiments as long as thepouch is grasped securely even if not symmetric with respect to thegrasper, adjustments can be made after the pouch is removed from thecubby. An error in the orientation of the pouch can be compensated forusing one or more suitable actuators which can rotate the grasper jaws,while an error in the location of the pouch within the jaws can becompensated for by adjusting the position of the axis (e.g., Y axis)along which the grasper travels and/or adjusting the vertical (e.g., Zaxis) position of the grasper at key pouch locations (e.g., the locationat which the pouch is peeled open). Such errors can be identified bymethods known to the art such as using machine vision, using mechanical,optical, capacitive, or acoustic sensors, etc. If the pouch is placedinto an MEP (e.g., FIG. 26(a)) before being grasped again and brought tothe dispenser, adjustments in its position and orientation can also bemade during the second grasp, or afterwards.

Due to possible distortion of the pouch caused by the weight of theingredient inside, or packing the ingredient under vacuum or excesspressure, the top edge of the pouch may not be very flat, making uniformgrasping more difficult. To remedy this, the grasper in some embodimentscomprises at least two separate pairs of jaws spaced apart and moveablerelative to one another. With such a design, once the edge is grasped,the pairs can be moved apart in a way that applies tension to the topseal of the pouch to flatten it, if necessary.

In some embodiments, to speed up the process of food preparation, orprovide better thermal insulation between cold and warmer areas of themachine, at least two separate robotic grasping/pouch transport systemsmay be used in the same machine, the first of which removes the pouchfrom storage and the second of which brings the pouch to the dispenserand optionally, participates in dispensing the ingredient. While thesecond system is doing this, the first system is free to fetch the nextpouch, or the first system can return an incompletely dispensed pouch tostorage while the second system brings a pouch from the MEP to thedispenser, etc. In some embodiments the first system may place a pouchin an MEP, pouch heater, etc., from which the second system then picksit up. In other embodiments, one system may directly hand off the pouchto the other. FIG. 27 depicts a pouch 404 held by three grippers 405 tofacilitate hand-off. One gripper is moved by bent support 406, and twogrippers are moved by straight supports 408. In some embodiments, thiscan be reversed, and in some embodiments, there can be two of each kindof support, or all graspers can use bent supports (some bent in theopposite direction than others). The use of both straight and bentsupports enables, for example, the pouch to be initially held by a firstgrasper with a bent support, and, without colliding with this, secondand third graspers with straight support can then grip the pouch inother locations, thus allowing the first grasper to release its grip. Insome embodiments a bent grasper support can straighten itself out whennot needing to be bent.

Pouch Variations

In some embodiments pouches may be used having specialized features. Forexample, the pouches shown in the 3D views of FIGS. 28(a)-(c) areintended to be fully peeled apart (except for their tops) using adispenser such as that of FIGS. 8(a)-(k), e.g., in a system such as thatof FIGS. 26(a)-(g). The pouches illustrated have flaps 410 at theirbottoms which may be manipulated to open and/or peel the pouch,chevron-shaped seals 412 near their bottoms to facilitate peeling and/orform a narrow funnel-like opening if desired, etc. Vertical (e.g.,peelable) seals 413 are also provided. To facilitate grasping of thepouch using the manipulator, to more positively and repeatably positionthe pouch within a cubby, and/or to facilitate reading of amachine-readable code (e.g., a bar code 415) or human-readableinformation 417) on the pouch, the pouches also have stiffening elements414 or 416 near or coincidence with their upper edges and top seals 418,which keep the upper edges more straight and flat than they mightotherwise be. In the case of FIG. 28(a), element 414 comprises a bend inthe film forming the pouch and/or a thicker strip of material laminatedto the upper portion of the pouch. In the case of FIG. 28(b), element416 comprises a corrugated upper portion of the pouch. Both stiffeningapproaches may be implemented with suitably-shaped heated dies whichform the pouch material (presumed to be a thermoplastic and/or a portionthereof (e.g., the pouch may have multiple layers) into the desiredshapes. FIG. 28(c) shows a pouch which uses one or more D-shaped loops420 (with the corners not necessarily as sharp as shown) formed fromfilms 421 and 423. These are similar to those of FIG. 14(c), but nearthe pouch top edge for stiffening purposes, retained by seals such as422. Pouches may also incorporate air- or liquid (e.g., water)-filledchambers near their tops as stiffeners.

The pouch of FIG. 28(d) is designed to accommodate a significant volumeof an ingredient while remaining fully peelable (i.e., up to the topseal, or including it), and minimally distorting the shape of its sidesand flaps. It comprises one or more pleats 424 (four are shown) in whichthe film comprising one wall of the pouch has been folded, including thevertical seals 426. Some pouches may have pleats on both walls. When aningredient is loaded into such a pouch through opening 428, the pleatscan expand the internal volume.

Controlled Dispensing

FIG. 29 depicts an elevation view of a pouch similar to that of FIG. 3having zig-zag seals 429 as well as vertical seals 431. If the maximumfill levels shown in FIG. 3 are used, then there is room for a thinsqueegee or roller to be placed again the pouch on one or both sides inthe positions shown as #1 (430), #2 (432), and #3 (434). With thesqueegee in position #3, a food item in the bottom compartment can bedispensed, assuming a Type 1 item, without disturbing items in uppercompartments, by lowering the squeegee to expel the item. With thesqueegee in position #2, the items in the next two higher compartmentscan be dispensed, and with the squeegee in position #1, the items in allcompartments can be dispensed. Thus, the amount of a food item neededcan be varied, and gradual dispensing from a multi-compartment pouch canbe implemented by using a squeegee or roller the impingement height ofwhich on the pouch can be varied.

FIGS. 30(a)-(e) show elevation cross-sectional views (in which the sideseals are not visible) of a pouch that is not compartmentalized, butwhich through the use of multiple clamps, can be made to dispenseingredients gradually. In FIG. 30(a), pouch 436 with upper seal 437 andflaps 439 is unopened and upper clamp 438 and lower clamp 440 on eitherside of the pouch are separated so as to not significantly compress thepouch. In FIG. 30(b), both sets of clamps have moved in the direction ofarrows 442 and compressed the pouch, dividing the food items within intomultiple (three as shown) portions. The items may be of Type 1, or ofType 2A or 2B in some cases. In the case shown, a Type 2A item isassumed (i.e., the item can readily fall out of the pouch withoutassistance) but using moving clamps serving as squeegees, actualsqueegees, full peeling, etc., other types can be accommodated. In FIG.30(c), the pouch has been opened, allowing items 444 below the lowerclamp to exit the pouch in direction 446. In FIG. 30(d), lower clamp 440has also been opened, allowing more items to exit, and in FIG. 30(e),upper clamp 438 has also been opened, allowing all the remainingcontents to exit.

FIGS. 31(a)-(c) depict cross-sectional elevation views of a process inwhich a relatively large ingredient 447 can be controllably dispensedinto a vessel 448 such as a dish by using coordinated/synchronous motionof the dish relative to the dispenser. For example, a slice of bread ina pouch within dispenser 441 may be laid down onto a plate, and a sliceof a beefsteak tomato, piece of cheese, cold cuts, or a cooked hamburgerpatty may be laid onto the bread using this technique. The food item isinitially substantially vertical as in FIG. 31(a) suspended by gripper435 and arm 433, and enters the dish and makes contact with it, possiblyoff-center as shown in FIG. 31(b). As the item continues to leave thepouch 449, dish transport 429 moves dish 448 underneath the pouch indirection 445 (FIG. 31(c)), causing the item to reorient, tilting indirection 443 and eventually falling out of the pouch and onto the plateas desired. If the item has two different surfaces (e.g., a sunny sideup egg) and a particular one should face upwards, this method can beparticularly advantageous in ensuring the desired orientation. Also,such a method can minimize splashing of one ingredient descending into adish containing another, especially when a preferred order in whichingredients are added (liquids after solids) cannot be used. In general,coordinated motion between dispenser and vessel has broad utility inautomated food preparation. Coordinated motion between vessels receivingingredients and the dispenser—such as motions which allow a particularingredient to be placed in a particular location or orientation in avessel, or on/adjacent to another ingredient already in the vessel, orto allow 2D or 3D printing or dispersion over a large area—may involvemotions imparted to the vessel, a vessel carrier transporting thevessel, the dispenser, or a combination thereof. For example, the vesselmay be transported on a carrier that is moved by an X/Y stage and/orrotates; such a stage can also serve to put a dish into a heatingchamber, deliver a dish to the end user, etc.

FIGS. 32(a)-(g) show elevation views of a pouch having multiple piecesof a food ingredient (e.g., slices of pepperoni) which can be dispensedone at a time very controllably using rollers. Unlike dispensers forType 1 ingredients which use squeegees or rollers which move downwardsrelative to the pouch, in the approach discussed here, the rollers moveupwards with respect to the pouch, gradually releasing pieces of a fooditem. Such a high level of control can be combined with the ability toaccurately control the position of a receptacle or food item (e.g., apizza crust) so as to allow an ingredient (e.g., solid) to be placedprecisely in the receptacle/on the item in a non-contact manner. Asshown in FIG. 32(a), pieces such as piece 1 (450), piece 2 (452) andpiece 3 (454) are arranged in the particular pattern shown, and aresubstantially immobilized in that pattern by one method or another suchas vacuum packing, internal seals (continuous or discontinuous), the useof an internal perforated sheet which may be partly attached to thepouch (e.g., at the top), thermoformed pockets within one or both filmsof which the pouch is comprised, tension maintained on the sides of thepouch, etc. In this discussion the use of vacuum is assumed. Once thepouch has been opened, vacuum can no longer retain the pieces. Thus, thepouch has been inserted into a sleeve 456 having an interior width smallenough to prevent pieces from passing one over and past the other. Thesleeve may also have compliant elements which apply a constant pressureto the walls of the pouch to keep the pieces from sliding. FIGS.32(b)-(f) depicts steps in the process of dispensing two pieces. In FIG.32(b), the pouch is shown with sleeve 456, and below the pouch are apair of rollers 458, one behind the other (alternatively, one roller anda substantially rigid backing plate may be used in some embodimentvariations). In FIG. 32(c), the pouch has started to descend indirection 460 relative to the sleeve, and pieces such as pieces 1 and 2are starting to become slightly compressed between the rollers which arerotating in direction 462. As the pouch continue to descend and therollers roll, piece 1 (450) eventually is no longer compressed by therollers as in FIG. 32(d) and falls out of the pouch in direction 464.After additional pouch and roller motion, piece 2 also falls, as doespiece 3 (454) (FIG. 32(e)). By the time of FIG. 32(f), eight pieces havebeen released, one at a time. Since the pieces may shift slightly beforerelease, the exact pouch position at which each piece is released mayvary. However, if these positions are sensed (e.g., using machinevision), the pouch can be moved to the exact location needed to releasea piece at the correct time.

In the above figures, pieces exit the pouch even though the walls arestill joined together (though external vacuum cups may be used to helpseparate them), or air may be introduced into the pouch to expand it,etc. FIGS. 32(g)-(i) depict a version of the arrangement of FIGS.32(a)-f) in which the pouch does not only descend, but is also peeled,which can facilitate reliably dispensing the pieces. FIG. 32(g) depictsa pouch in a state similar to that of FIG. 32(e), but now the filmbeyond the roller has been wrapped around the roller as seen in thesectional view (section line 466) of FIG. 32(h), which shows piece 4(468) nearly released as the film is pulled in direction 470 as well asstill-retained pieces 472. In FIG. 32(i), the arrangement of FIG. 32(h)has been modified with the addition of blades 474 which can helpdispense any residues that may remain on the film (e.g., for aningredient that isn't very dry).

FIG. 32(j) depicts a pouch which also has its pieces dispensed in ahighly-controlled way. In this case, the pouch is subdivided intovertical compartments (e.g., four) such as compartment 1 (476) andcompartment 4 (478) by seals 479. Since the compartments are relativelynarrow, they may not deform as much as one piece tries to pass anotherdue to gravity, and so a sleeve may not be needed to prevent one piecepassing another. Each compartment is provided with its own roller 480which can be independently controlled. In the figure, the roller forcompartment 4 has already risen so as to release two pieces ofingredient 481, whereas the roller for compartment 1 is rotating indirection 482, rising in direction 484, and preparing to release thefirst ingredient for that compartment. Once a roller has passed a piece,it can move further towards the pouch with minimal danger of crushingthe piece, and then if desired, reverse its motion, pushing the piecedownward.

In some embodiments, rather than individually dispense pieces of aningredient as in FIGS. 32(a)-(g), ingredients can be dispensed in bulkbut packaged and dispensed so as to retain a particular arrangement ofthe pieces within the package. Thus, for example, pepperoni slices meantto be distributed over a small circular pizza can be arranged in asuitable pattern within the pouch, and the pouch vacuum packed toprevent the slices from moving. Once the pouch is opened, it can bepeeled open gradually while the pizza moves underneath in a coordinatemotion. To prevent the slices from shifting their positions once vacuumis lost (assuming they don't adhere to the package film normally, or anedible adhesive is not used), the “conveyor” approach of FIG. 51 can beused. Or, the pouch can be compressed between two surfaces (e.g., byliquid-filled bladders) during dispensing.

Dispensers, Dispensing, and Pouch Manufacturing

Complete or nearly-complete dispensing of ingredients from pouches asdescribed herein is not merely more efficient and less wasteful. It alsoreduces the risk of machine contamination by residual ingredients,reduces the potential for food spoilage odors, and reduces the risk ofattracting insects and vermin.

Methods and apparatus disclosed herein can minimize or eliminate directcontact between machine and ingredients, with ingredients onlycontacting disposable/consumable materials, or those which can be easilyremoved for cleaning. Direct contact can easily contaminate the machine,cross-contaminate other ingredients, and necessitate regular andthorough machine cleaning (which can make unattended operation difficultif not impossible). Avoiding direct contact in a home appliance savestime and effort in cooking. In a public/vending-type machine, it reducesthe need for service visits, greatly improves food safety, andeliminates the need for rinse liquids and waste disposal (e.g., waterand drain plumbing), thus allowing the machine to be installedtemporarily or permanently in a much larger variety of locations/venues.

Referring to dispensers such as those shown in FIGS. 8(a)-(k), the pouchsides, whose inner surfaces are exposed to ingredients and may haveadherent residues, are at their lowest height as they pass over theblade edges (FIG. 8(j)). Thus, any ingredient on the surface will not beable to slide or fall upwards so as to contaminate the clamps or otherparts of the dispenser, even if the ingredient does not detach and fallinto a vessel placed below. Redirection of the pouch sides by the bladesalso allows the peeling motion induced by the peeler clamps to be otherthan downwards (toward the dish): a direction in which there is littleor no room to move. Rather, the direction can be sideways/horizontal orpreferably as shown, upwards.

With reference to FIGS. 8(a)-(k), FIG. 34, FIGS. 35(a)-(b), FIGS.36(a)-(b), FIGS. 37(a)-(c), FIGS. 38(a)-(f) depict 3-D views of adispenser designed to dispense ingredients of types 1, 2A, or 2B from apouch having flaps at its bottom, such as the pouch of FIG. 1, whoseseal is chevron-shaped at its bottom, the chevron having a lower tip orapex at the outside bottom of the sealed region. In some embodiments,not all aspects of the design shown in the figures herein will bepresent, and different aspects of the design may be replaced with otheraspects, and elements may be added. In the design shown, the vacuum cupsof FIG. 8(h) are replaced with pads (e.g. soft Sorbothane (Sorbothane,Kent, Ohio) which is naturally tacky) which may be perforated to providevacuum or air to the pad surface. The peeler is provided with upper andlower clamps as in FIG. 8(c), but the squeezer shown in FIG. 8(b) isreplaced with a design in which the squeegee can be extended orretracted by its own actuator(s), regardless of the squeezer's verticalposition. Additional elements have also been incorporated, such asgrippers and slides which prepare the pouch to allow easy separation ofthe flaps, and a film which guides the pouch into the dispenser even ifthe pouch is distorted, while protecting the dispenser from potentialleaks in the pouch.

The dispenser can be subdivided into multiple subsystems. FIGS.33(a)-(b) depict 3-D views focused on showing a spreader (i.e., a flapseparating/reorienting/spreading subsystem) comprising arms and padsused to spread the flaps of the pouch, while FIG. 34 depicts a 3-D viewthat includes the spreader and a tensioner (i.e., a pouch tensioningsubsystem). Tubing providing vacuum and/or air to the pads is not shownin the figure. FIG. 35(a) depicts a 3-D view focused on showing thetensioner, and FIG. 35(b) is a side elevation view of the pouch andtensioner clarifying how the pouch is tensioned. FIGS. 36(a)-(b) depict3-D views focused on showing a portion of a peeler (i.e., a peelingsubsystem), while FIGS. 37(a)-(c) depict 3-D views focused on portionsof a squeezer (i.e., a squeezing subsystem). FIGS. 38(a)-(f) depict 3-Dviews of the dispenser and show multiple systems, including a guider(i.e., a guiding subsystem). In addition, the dispenser in someembodiments includes two blades (e.g., FIG. 8(k). In the figures shownherein, certain subsystems and components are not depicted for clarity,in cases where a subsystem is identical to or a mirror image of asubsystem that is shown. For example, only one spreader, one tensioner,one peeler, one squeezer, and one guider are shown in most figures, butin practice two would normally be used, with each disposed symmetricallyabout planes passing through the center of the dispenser (e.g., FIG.40(b)).

The spreader of FIG. 33a serves to engage the pouch flaps and separatethem from one another, reoriented the as in FIG. 8(h). Each spreadercomprises one or more pads 486 and 488: one for each flap. Each pad issupported and moved by arms 490 and 492 (e.g., rotating arms whichrotate about a pivot: the axis of rotation may in some embodimentscorrespond to the apex of the chevron). The pads may compriseSorbothane, a reusable adhesive, SETEX or similar, a material such asRegabond-S (Exel Trading Company, Tokyo, Japan), an array of microsuction cups, an electroadhesion-based pad (Grabit, Sunnyvale, Calif.),etc. The pads may also comprise a material that is not itself adhesiveand not necessarily compliant, but to which a source of vacuum isattached. Vacuum may also be used with some materials as a supplement,as is shown by the vacuum port 494 in FIG. 33(b). The pads mayincorporate sensors (e.g., tactile/pressure/mechanical, capacitive,optical) to sense the position of the lower edge of the pouch flaps orother indicia such as printed marks on the flap (or sensors may be usedelsewhere to sense other features (e.g., the apex) or indicia on thepouch) and allow adjustment (e.g., vertical motion) to ensure reliableoperation.

Substantially symmetric, simultaneous rotation of the two arms can beproduced by various mechanisms including independent motors, motors withgearing, and the mechanism shown in FIG. 33(a), in which a linearactuator 496 supported by bracket 498 is provided which translates alead screw 500. The lead screw is fastened to a connector 502 whichincludes pivots 504 for links 506 and 508 which rotate about the pivots.The lower ends of the links are connected to the arms through pivots(e.g., 510), while the arms turn about pivot 511 which is attached tosupport 513. Thus, when the lead screw is translated, the arms arerotated in directions 512 and 514 such that the pads move toward thecenter plane or separate from one another and move upwards. The arms areshaped so as to not interfere with blades 515. In operation, flaps 516and 518 of pouch 520 having apex 522 are located in the space betweenthe pads as in FIG. 33(b). When the pads converge toward each other,they push the flaps together toward the center plane (the flaps mayinitially be off to one side or to both sides). When the pads converge,they compress against the flaps and make good contact with them.Subsequent to this, the pads are separated by reversing the actuator,each one pulling one flap along with it and rotating the flap to anorientation where it can be pinched between the peeler upper and lowerclamps.

Due to the weight and volume of the ingredient within the pouch and/ordue to outside air pressure (if the pouch is vacuum packed) or due tothe pressure of an internal gas (e.g., if packed with air or a modifiedatmosphere), the pouch may be distorted such that the flaps are nolonger substantially planar as in FIG. 1, and may be quite curved to oneside. Such curvature, along with the distorted shape of the pouch abovethe flaps, has the effect of stiffening the flaps and making them muchharder for the spreader to separate and re-orient the flaps and deliverthem to the peeler clamps. Pouch distortion may be especially pronouncedwith pouches made from films that are relatively stiff such as PET.Folding of the pouch as in FIG. 28(d), or forming (e.g., thermoforming)the pouch to increase the volume of its cavity can alleviate this, ascan more advanced folding and pleating arrangements (e.g.,origami-inspired). However, to the extent it represents an issue, apouch tensioner may be included in the dispenser in some embodiments. Asuitable tensioner should work regardless of the ingredient within thepouch. A tensioner used in some embodiments is shown partially in FIG.34, and in more detail in FIGS. 35(a)-(b). The tensioner comprises agripper 524 (e.g., pneumatic) equipped with fingers 526 and fingerextensions 528, the latter of which may be lined with a non-slipmaterial such as 3M Gripping Material. The gripper is fastened to an airslide table 530 or other actuator through a gripper mount 532. The tableis able to move the gripper substantially horizontally (though in someembodiments a curved motion may be used) towards or away from the centerof the pouch. The finger extensions may be positioned approximately atthe height of the pouch apex, so that when the gripper fingers areclosed, the pouch is grasped near its vertical edges at a height that isapproximately coincident with the apex.

In operation, both air slides (in some embodiments only one may be used)are initially positioned inwards. Once the grasper (not shown), whosejaws hold the pouch by its upper portion, has lowered the pouch to aheight suitable for dispensing (e.g., the height at which the fingerextensions are approximately aligned with the apex 522) as in FIG.35(b), the gripper fingers are closed near pouch vertical edges 533,outside the internal edges 535 of the vertical portions of the pouchseal. This causes the pouch to be securely gripped. Next, as is shown inFIG. 35(b), the grippers are pulled outwardly/away from one another bythe air slides (or other means) in directions 534 to apply tension tothe pouch; this motion can be linear or along an arc. The effect of thison the pouch is very significant as it causes the pouch to change itsshape and in particular, causes the flaps to become substantially flat(and thus easier to separate and move) even with a fully-loaded pouch.The shape change has little or no impact on the pouch contents (whichmay be friable), however, the shape of the flaps is greatly improved.With the pouch under tension, the flaps are more flexible and easier toseparate and reorient. The pads for example can converge on the flaps,separate them, lift/reorient them, and deliver them to the peeler clampsas described above.

Turning now to FIG. 36(a)-(b), each peeler comprises an upper clamp 536and a lower clamp 538, the clamping surfaces of which are shaped tosecurely capture the pouch flap (which has passed around the blade bestshown in FIG. 8(k)) and pull it upwards. Upper and lower clampingsurfaces 540 and 542 are covered in some embodiments with a materialsuch as 3M Gripping Material. In some embodiments as shown in thefigures, the lower clamp rides (e.g., through bushings) along peelerguide rods 544 which are angled with respect to the vertical, and a leadscrew 546 rotated by motor 547 supported by bracket 549 (FIG. 38(a)) isprovided, along with lead nut 548 fastened to the lower clamp. Rotationof the screw causes the lower clamp to move upward or downward along theguide rods. The upper clamp comprises two holes which may also be linedwith bushings. Passing through the holes are the peeler guide rods, anda clearance hole for the lead screw is provided. While the lower clampis actively driven along the guide rods by the lead screw, the upperclamp is passively driven by the motion of the lower clamp. In someembodiments, weight box 550 having tab 552 is fastened to the upperclamp as shown. The weight box is filled with a dense material (e.g.,brass) so as to increase the weight of the upper clamp, which itself maybe made of a relatively heavy material such as stainless steel or brass.If the upper clamp is of significant weight, the gripping pressure ofthe upper and lower clamping surfaces on the pouch flap are increased,thus providing a more reliable grip. The angle of the upper and lowerclamping surfaces, in addition to being optimal to allow contact withthe flap, may also improve gripping since the flap is forced to bendsharply around the lower clamping surface. In some embodiments in lieuof or in addition to weight, the upper clamp can be urged against thelower clamp and travel along with it by providing a mechanical spring, agas spring, a cable connected to a weight running over a pulley, aconstant force spring, magnets (e.g., two magnets—one each on the lowerand upper clamp—or one magnet on one clamp and a ferromagnetic materialon the other), electropermanent magnets, electromagnets, etc.

Before peeling can be initiated, a gap is required between the lower andupper clamping surfaces as shown in FIG. 36(a), into which the pouchflap can enter as in FIG. 8(h). Initially, the upper clamp is retainedso that it cannot move as low as the lower clamp; this is accomplishedin the apparatus shown in the drawings by a support rod 553 (FIG. 38(a))on which tab 552 fixed to the upper clamp rests when the upper clamp isin its lowest position. In FIG. 36(b), the lower clamp has moved higheralong the rods, closing the gap between clamping surfaces and grippingthe flap (not shown); FIG. 8(i) shows the flap being gripped (withclamps shaped differently than those in FIG. 36(b)).

FIG. 37(a) is a view of a squeezer (one of two) from below, while FIGS.37(b)-(c) show views at a higher angle. The squeezer comprises asqueegee 554 which is mounted on pivots 555 so it can rotate to anextended position (e.g., FIGS. 37(a)-(b)) before use, or rotate to aretracted position (e.g., FIG. 37(c)) when not being used (to allow thepouch to enter the dispenser). Squeegees preferably span the entirewidth of the ingredient-containing compartment of the pouch, and may bewider still, extending into and even past the vertical seal. Squeegeesmay be translated, rotated, or both translated and rotated. To allow apouch to enter the dispenser initially, the squeegee may be retracted.The squeegee is extended and retracted by two air cylinders 556 turningon pivots 557 or other actuator whose shafts are connected to twocouplers 558 which connect to the side of the squeegee through couplerpivots 560. Once extended, drag forces acting on the squeegee as itmoves downwards along the pouch or guider film (discussed below) producea torque in the same direction as the cylinders, helping to keep itextended. When the squeegee is fully extended, the couplers rest againstpivots 555, preventing over-extension.

The inward edge of the squeegee may be tipped by a material (e.g., PTFE)that has preferably low friction when sliding on the pouch walls orguider film, and may be somewhat compliant. The tip 562 may besandwiched between the squeegee and a tip support 564 or just held inplace with fasteners, adhesive, etc. In some embodiments, the tip may bereplaced by one or more rollers (e.g., passively rotating). When thesqueegees of both squeezers are extended, the gap between the tips maybe small (e.g., no larger than the thickness of the films comprising thepouch and guider films, thus forcing the pouch contents in regionsimpinged by the squeegees to be expelled substantially completely.

The squeezer also comprises a frame 566 to which the squeegee is mountedthrough pivot 555, and which moves the squeegee downwards along thepouch when the frame is driven along two guide rods 568 by two leadscrews 570, the latter turning within lead nuts 572 attached to theframe. The screws, equipped with pulleys, are rotated by a motor 574turning pulley 577 which moves belt 576 running over idler pulleys 578as in FIG. 38(a). Normally, the squeegee will be extended when thesqueezer is descending, and will be retracted when it is ascending. Thecylinders are mounted to the frame through pivots 557 which allow thecylinders to rotate as needed when extending or retracting the squeegee.

An optional guider 580 can be seen in FIG. 38(a), along with othersubsystems. It comprises guider film 582, film supports 584, and pouchguides 586 (the latter are better seen in FIG. 38(b)-(e), in which film582 is removed for clarity). Guider 580 serves as a “funnel” to deliverthe pouch into the dispenser as it is lowered by the grasper, even ifthe pouch is significantly distorted, or swinging from side to sideafter it is moved. The film is a flexible material such as PET,polyethylene, polypropylene, or nylon, and preferably has a low surfaceenergy, minimizing friction when the pouch and squeegee tip slidesagainst it. It may also in some embodiments be made of a materialsimilar to that of the pouch to avoid static charge buildup caused bytribocharging. The film is fixed at or near its top by two curved ortilted film supports attached to top plate 588, and may be secured tothe supports in other locations. To the top plate is attached a numberof other components as is evident from the figures. Lower regions of thefilm extend adjacent to the pouch guides, to which in some embodimentsthe film may be attached (e.g., at its lower ends). The guider film isgenerally loose and flexible enough in its lower regions that it doesnot interfere with the pouch entering between it and the opposite guiderfilm. The pouch guides may be rigid or flexible, attached to the topplate, and may be spring-loaded as mounted if rigid. The gap betweenguides is greater (normally, or if the guide is deflected) than thethickness of the pouch in the region (e.g., the pouch seals along thesides of the compartment) that passes through the guides, so the pouchcan move easily.

In some embodiments, the entire guider may be easily detached for thedispenser and removed (e.g., for cleaning after contamination by aruptured pouch or by an ingredient falling from the open end of a pouchfrom which most of the ingredient has been already dispensed if thepouch is lifted out of the dispenser for disposal, etc.). In someembodiments, the guider film may extend further, so as to wrap aroundthe blades and protect them from contamination as well. In someembodiments, the guider film may be provided in an extended shape (e.g.,a web stored on a spool and taken up by another spool), a continuousloop, etc.). In such cases, damaged, worn, or contaminated sections ofthe film can be automatically moved out of position (with new/cleansections replacing them) and collected for disposal/recycling, orcleaned automatically within the system.

FIGS. 38(a)-(f) provide general views of the dispenser (as noted, onlyone of two subsystems normally present are shown for clarity), depictingthe relationship between subsystems. The grasper—which holds the pouchat or near its top, introduces it into the dispenser, participates indispensing (e.g., descending as more of the pouch is peeled open) andremoves the pouch after dispensing—is not shown for clarity.

FIG. 39 depicts a flowchart for dispensing using a dispenser similar tothat shown in FIG. 38(a)-(f). The flowchart assumes a pouch which issufficiently distorted that tensioning is required. For a pouch that isless distorted/undistorted, certain steps can be bypassed (e.g., closingthe grippers, moving the grippers outwards). The flowchart also assumesthat the flaps are pulled to separate and reorient them, e.g., using thepads of FIG. 33(a). If the flaps are instead pushed (e.g., FIG. 46) thencertain changes to the flowchart are required. Certain steps in theflowchart may in some embodiments not be in the strict chronologicalorder shown or described herein, but may occur in a different order orsimultaneously.

Before the start of the process, the grasper grasps the pouch and bringsit to position at the entrance to the dispenser (e.g., between theguider films). Once the process starts, the dispenser is initialized(box 590) to move all actuators to their required initial states if notthere already. For example: the spreader arms may be separated, creatinga gap between the pads; the grippers of the tensioner may open to allowthe pouch to enter the space between the finger extensions; the airslide tables may move the grippers inwards in preparation for movingoutwards to tension the pouch once it is securely gripped; the peelermay be lowered so that the lower clamp is at its lowest position and theupper clamp rests on the support rod, creating a gap between the twoclamps; and the squeezer may be raised to position the squeegee tosqueezer out the contents of the pouch (for a Type 1 ingredient) and/orto not interfere with the peeler if the latter must travel a longdistance upwards (for a Type 2B ingredient). Next, the pouch is loweredinto the dispenser (box 592). Once the pouch has reached the correctheight (e.g., aligning the apex of the chevron with the grippingportions of the finger extension (see FIG. 35(b)) or aligning the apexwith the axis of rotation of the spreader arms, the grippers are closed(box 594) and then moved outwards, tensioning the pouch andsubstantially flattening the flaps. The spreader arms may then be movedtogether (box 596) until the pads firmly contact the flaps. In someembodiments, this can be done at least partially before tensioning,since it may be acceptable to make contact between pads and flaps evenwhen the flaps are not flat.

If vacuum is used to assist pulling on the flaps, it may be delivered tothe pads (box 598) if not already applied. Next, the arms are separated(box 600), moving the pads further from one another, and pulling theflaps apart and into a new orientation. When the flaps have entered thepeeler (e.g., entered the space between lower and upper clamps), thelower clamps of the peeler are raised (box 602) until the flaps aresandwiched between the lower and upper clamps and thus are securelygrasped. If vacuum has been used, it may now be turned off (box 604). Tohelp separate the flaps from the pads to which they may tend to adhere,compressed air may be delivered to the pads at this time; once the flapsare separated, this can be turned off. Before moving the peeler to peelopen the pouch (and in the case of Type 2B ingredients, continue to peelit, e.g., until most or all of the peelable seal is separated), thegrippers, if used, may be opened (box 606). Then, the peeler lowerclamps are raised; this also raises the upper clamps since the lowerclamps push them upwards box 608). To avoid slippage of the flaps in thepeeler or of the pouch in the grasper, or rupture of the pouch, and tomaintain a desirable tension in the pouch films (especially as they passaround the blades for Type 2B ingredients) as the peeler rises, thegrasper must descend. The relative speeds of movement of these can bedetermined geometrically and implemented open loop, or in someembodiments a sensor (e.g., a switch in contact with the film,preferably on its clean, outer surface) may be used to sense tension inthe pouch and adjust the relative speeds accordingly. By incorporatingsome compliance in the grasper/pouch/blade/peeler system (e.g., mountingthe blades compliantly, such as using leaf springs), controlled tensionmay be more easily achieved. Once the peeler is sufficiently raised, thepouch will be peeled open at the apex of the chevron. Opening the pouchis of course required for all types of ingredients.

If the ingredient is determined (box 610, e.g., by consulting a local orremote database with the code on the pouch) to be of Type 1 (e.g.,flowable), it can be dispensed by use of the squeezer. Before this, itmay be required to further open the pouch (box 612). The amount by whichthe pouch is peeled open (i.e., how much of the chevron is peeled: theregion near the apex, the entire chevron to full width of the ingredientcompartment, or an amount in-between) before using the squeezer dependson several factors. These include the ingredient viscosity, the desiredwidth of the flowing ingredient as it issues from the pouch, and thedesired flow rate. The squeezer speed (whether variable or fixed) may beadjusted according to factors such as ingredient viscosity, the desiredsize of the opening (if less than the full width), and the peel strengthof the seal, and should not be exceeded since that may increase thepressure within the ingredient compartment of the pouch and potentiallywiden the opening or cause seal/pouch rupture. Before extending thesqueezer's squeegees, the squeezer may be lowered to a suitable position(e.g., below the graspers) (box 614). Once in position, the squeegeescan be extended (box 616) and lowered (box 618) until as much of theingredient as desired has been dispensed. Some time may be required (box620) for the ingredient to be discharged before the pouch is extractedfrom the dispenser, after which the squeegees may be retracted (box622). In some embodiments to facilitate complete dispensing of theingredient, the grasper may be raised, pulling the pouch upward throughthe squeegees: this may require that the pouch flaps are released or thepeeler is lowered.

If the ingredient is not of Type 1, it may be of Type 2B (box 624). Ifso, then the peeler continues to rise while the grasper continues todescend (box 626) as already described. The motion of these is thenreversed (box 628) beginning the process of removing the pouch from thedispenser, and also giving the ingredient more time (box 625) to falloff the pouch inner surfaces (e.g., while the surfaces pass around theedges of the blades). If the ingredient is of Type 2A, a delay may beprovided for it to fall out of the pouch.

Regardless of the ingredient type, if the pouch flaps have not beenalready released, they may be released (box 630) and the pouch thenextracted (box 632) from the dispenser once the dispensing process iscompleted. The pouch can then be transferred to a waste container.

FIGS. 40(a)-(b) depict elevation views of a dispenser (with spreader andtensioner removed for clarity) in which the left half 634 and the righthalf 636 of the dispenser can be moved away from and toward one another.In FIG. 40(a) the two halves are separated as they may be for pouchloading/unloading and/or if necessary, cleaning, while in FIG. 40(b),they have moved in direction 638 to a position in which they can be usedfor dispensing from the pouch. The squeegees are shown extended in bothfigures, but may be retracted or extended. In some embodiments thesqueegees can always be extended (with no actuators to extend/retract)since the dispenser halves can separate to allow pouch access andsqueegee positioning. The pouch (not shown) may enter from above asshown by arrow 640, or sideways (e.g., perpendicular to the plane of thefigure). In some embodiments both dispenser halves move, while in otherembodiments only one may move. Movement can be linear, rotational, or acombination of the two; if rotational, the lower regions of thedispenser halves may remain approximately at the same location, whilethe upper regions rotate (e.g., clockwise and counterclockwise) tocreate a space between the two halves. Movement can be provided byvarious actuators such as electric motors or pneumatics.

FIG. 41(a) depicts an elevation view of two films (which may be portionsof a continuous web) having width (641) which are formed into a pouch.In some embodiments, one film (e.g., Film 1 (642)) comprises a materialhaving a peelable heat-sealable coating on one surface, and the otherfilm (Film 2 (644)) comprises a material having either a peelableheat-sealable coating on one surface, or no coating. At least one film(e.g., Film 2) may be imprinted with graphics, text, photos, and asshown, machine-readable code (646) (e.g., bar or QR code) and/orhuman-readable information 648 (e.g., description of contents,expiration date, weight as packaged, number of pouch compartments). Inpractice, this may happen after the pouch is made (i.e., the code andinformation may not be added to the films, but rather, printed on thepouches later). In FIG. 60(b) the two films have been combined (with thepeelable coating(s) facing inwards) to form a pouch, by forming apeelable seal 650 that comprises the lower portion of a compartment 652for an ingredient, and (after loading with the ingredient), by formingtop seal 654 (which may be peelable or non-peelable) which seals theingredient within the ingredient compartment by overlapping in region655. The pouch may be grasped by the grasper in the area of the topseal, for example. The peelable seal in some embodiments comprises achevron-shaped portion 656 at the bottom, the lowest region of which isapex 658. The lower portion of both films, beginning just below theapex, is unsealed, forming a pair of flaps 670, one for each film;peeling open the pouch comprises grasping and pulling on these flaps asdescribed herein.

As shown, in some embodiments, the films may be misaligned (i.e.,partially but not fully overlapped) such that when combined, the widthof the pouch exceeds the width 641 of one film, and vertical regions 643on either side of the peelable seal comprise only Film 1 or Film 2,since in such regions there is no overlap of the films. Having portionsof the flap not overlap facilitates access of the arms to the flaps, andallows flaps to be pushed in regions 660 and 662 (optionally while beingclamped between two bodies)—not just pulled—to separate and reorientthem in preparation for clamping by the peeler. Pushing/clamping can bemore reliable and repeatable than pulling, can allow for greater force(and reduce the need for pouch tensioning), and can avoid the possibleneed for tacky materials (which may become contaminated with dust, etc.or otherwise become less tacky), vacuum pumps, etc. Pouches such as thatof FIG. 41(b) may be produced using two film webs which are misaligned.

Separation and reorientation of such flaps can be achieved in someembodiments as shown in the elevation views of a pouch (at a right angleto those of FIGS. 41(a)-(b)) shown in FIG. 42(a)-61(f). Flap 1 (664) isa portion of Film 1 (642), whereas Flap 2 (666) is a portion of Film 2(644). In the figure, the flaps are shown slightly separated andsymmetric; in practice, distortion of the pouch may cause them to be inclose proximity, and bent to the left or right (i.e., toward Film 1 orFilm 2). For clarity in the figure, Flap 1 is shown being reoriented(and if applicable, separated from Flap 2) by moving clamps, while Flap2 is shown as being stationary. However, Flap 2 would normally bereoriented/separated (e.g., simultaneously) in the opposite direction inthe same manner.

In FIG. 42(a), the flaps are shown with active clamp 668 on one side andpassive clamp 670 on the other. The active clamp (e.g., supported by anarm) can be driven (e.g., by a stepper motor) so as to move (e.g.,rotate about an axis coincident with the apex) in direction 672 toengage and reorient Flap 1. However, if Flap 1 is displaced too much, itmay deform and slip off the clamp, since it is pushed by the clamp nearonly one end, not both. To prevent this, a secondary clamping element isused in some embodiments, e.g., a passive clamp which can engage theopposite/outside surface of the flap and apply clamping pressure thatsandwiches the flap between the clamps and prevents slippage, especiallyif the surface of at least one clamp is high friction (e.g., 3M GrippingMaterial).

The passive clamp is able to move when moved by the active clamp, but inthe embodiment shown, is prevented (e.g., by a stop, not shown) frommoving counterclockwise past a certain angle (e.g., that shown in FIGS.42(a)-(d)). In other embodiments, the passive clamp is held in aposition such as that of 61(f) (i.e., more clockwise) by an actuatedstop (one that can be switched on an off) and can be released so itdescends to meet the active clamp and sandwiches/clamps the flap film.In some embodiments rotation of the passive clamp requires overcoming aresistance (e.g., lifting the weight of an arm supporting the clamp,overcoming torsion in a spring). In some embodiments the passive clampis magnetically or electrostatically attracted to the active clamp(e.g., one or both may comprise a permanent magnet, electromagnet,electropermanent magnet, or ferromagnetic material); thus, when bothclamps are near one another, they compress and trap the flap betweenthem. In some embodiments both clamps are active. In some embodimentsthe passive clamp may be attached to and rotate with the active clamp(e.g., hinged so it can flip over to the other side of the flap).

In FIG. 42(b), the active clamp has moved clockwise (the active clampfor Flap 2, not shown, may simultaneously move clockwise as seen fromthis angle). In FIG. 42(c), the clockwise motion has continued such thatthe clamp has come into contact with Flap 1, while in FIG. 42(d) theflap has been reoriented so as to also come into contact with thepassive clamp. If the clamps are mutually attracted (e.g.,magnetically), then Flap 1 is now captured. If not, then furtherclockwise movement of the active clamp will cause the passive clamp toexert a force (e.g., due to its weight or a spring), thus capturing Flap1. In FIG. 42(e), the two clamps have moved to a position in which theflap is between the upper and lower clamps of the peeler and can bereliably grasped by raising the lower peeler clamp against the upperclamp. Once this has occurred, the active clamp can rotatecounterclockwise away from the passive clamp (e.g., returning to itsoriginal position as in FIG. 42(f)). The passive clamp will return toits original position (or stay where it is, if held by an actuated stop)when no longer held by the active clamp and/or flap. If the two clampsare mutually attracted, then the passive clamp may rotate along with theactive clamp until it is prevented from further rotation by the stop, ifapplicable.

In some embodiments in lieu of using a pouch formed from misalignedfilms, a pouch formed from perforated (e.g., pre-perforated) films maybe used such as those shown in FIG. 43(a). While allperforations/apertures are within the flap area, perforations 674 inFilm 1 (676) are in different locations than perforations 678 in Film 2(680), such that when the two films are combined as in FIG. 43(b), theperforations don't overlap. To separate and reorient the flaps, adispenser having arms each of which is terminated in a pin (rather thana pad as in FIG. 33(b)) can be used. The pins, which are curved in someembodiments, are arranged so as to pass through the perforations of oneflap and press against the surface of the adjacent flap. Thus, when thearms rotate, for example, two pins contacting the inside surface of Flap1 push on it to rotate it clockwise, while two pins contacting theinside surface of Flap 2 push on it to rotate it counterclockwise.

The pouch design of FIG. 43(b) can be difficult to fabricate in volumesince films are normally punched together during pouch manufacturing andthe perforations in one film cannot match those in the other. However,in some embodiments in which the perforations in one film are offsetrelative to those in the other film in one direction only as shown inFIGS. 44(a)-(b), and by using the method discussed below, manufacturingbecomes much easier and economical. Indeed, such a design allows pouchesto be manufactured at little if any premium over unperforated pouches,and allows several pouches to be made at a time using wide webs of film.Key to the manufacturing process is a) using punching to perforates bothfilms at once while they are held together or close to one another, andb) before sealing the films together, causing one film to traverse alonger path after punching than the other. This has the effect ofintroducing a shift in the location of the perforations on one film withrespect to the other. Steps in the process used in some embodiments areshown in the plan views of FIGS. 45(a)-(d).

For clarity, FIG. 45(a) depicts two narrow webs of film (only one pouchwide: in practice, wider webs with multiple pouches may be used) whichare to be punched, sealed, and cut to form pouches such as those in FIG.45(b). In some embodiments more than two films may be used. The two websFilm 1 and Film 2 are shown side-by-side for clarity, but in fact aresuperimposed such that, for example, the right edge of Film 1 is alignedwith the right edge of Film 2. The figures also show just a shortsection of both webs corresponding to five pouches, not the entirety ofboth webs. The webs move in feed direction 682 shown (e.g., from supplyrolls) past punches, sealing, and (optionally), cutting stations.Cutting line 684—along which the pouches will eventually be cut—is shownas a dashed line. In the first step shown in FIG. 45(a), each region ofthe webs corresponding to a pouch has been punched twice in locationsshown by the dotted lines 686, resulting in a total of four perforationsin the two overlapped films. In some embodiments mechanical punches maybe used, while in other embodiments, other means of producing aperturesin the film may be used, such as lasers or knives.

In FIG. 45(b), Film 2 has been “delayed” or shifted relative to Film 1on its way to the sealing station, e.g., by forcing it to take a longerpath (e.g., passing it around an additional roller or a larger diameterroller). The shift 688, or difference in path length, is calculated soas to cause the perforations in Film 2 to shift to a location in whichthey are offset from and no longer aligned with respect to those in Film1 by the desired amount. Thus, when the films are sealed together (withFilm 2 above Film 1) in the sealing station as shown in the second stepof FIG. 45(c) to form seal 675, the perforations are perfectly offset.Perforations in Film 1 are shown dashed to indicate that they are behindFilm 2. The third and possibly final step in producing pouches such asthose in FIG. 45(b) is shown in FIG. 45(d), in which the pouches havebeen cut along the cutting line. In some embodiments singulating thepouches is deferred until after they are loaded, and in otherembodiments (those using a continuous chain of pouches) it is notperformed at all. If using wider webs, pouches are also cut parallel tothe web motion direction to separate pouches/pouch chains.

FIGS. 46(a)-(d) depict 3D views illustrating the use of curved pins 690in some embodiments to separate and rotate flaps 691 a and 691 b of apouch similar to that shown in FIG. 44(b), so as to reorient and deliverthe flaps to the peeler clamps. As shown in FIGS. 46(a)-(b), the pinsare attached to clockwise hub 692 and counterclockwise hub 694 whichturn on shafts (not shown) and are actuated to rotate clockwise orcounterclockwise (as seen from one angle), causing the pins to passthrough holes 696 and engage the opposite flap to push on it. In thesefigures, four motors may be used to rotate the hubs, or two motors withgearing, or links and a linear actuator such as those in FIG. 33(a) maybe used. The upper part of the pouch is not shown for clarity. In FIG.46(a), the flaps are together, while in FIG. 46(b), they have beenpushed apart. In FIG. 46(c), they have been pushed apart even further,at which time the peeler clamps can engage the flaps and the pins canreverse their motion and retract from holes 696. In FIGS. 46(c)-(d), thehubs have been joined in pairs by struts 698 such that only one hub oneach end needs to be rotated and the remaining hubs rotate passively onshafts (not shown). To minimize slippage of the pins on the film, thetips of the pins may be coated with a non-slip material, or may be sharpand penetrate the film (the pin may be much wider away from the tip, toprevent the pin from penetrating too far). The pins may also be hollowand provided with vacuum such that the film is forced tightly againstit. In some embodiments the tips of the pin are larger than shown, andmay be designed differently (e.g., as small suction cups).

FIGS. 47(a)-(c) depict 3D views of an alternative mechanism forseparating and rotating the flaps of pouch 700 with seal 701 and flaps691 a and 691 b used in some embodiments; the mechanism uses an approachsimilar to that of FIG. 42(a)-(f). Perforations 703 (e.g., one per flapas shown) are provided in the flaps toward the center of each, but areoffset from one another. Such offsetting can be readily achieved usingthe method shown in FIGS. 45(a)-(d). The flaps are separated and rotatedby pins 702 moved by actuators 704 (e.g., air cylinder) which passthrough the perforations and extend (e.g., horizontally), pushing on theflap surfaces opposite the perforations. In FIG. 47(a), the pins areonly slightly extended, and the flaps are nearly together. A view frombelow the flaps of this situation is shown in FIG. 47(b). In someembodiments the pins may be hemispherical at their tips and in someembodiments the pins may be tipped with a high-friction material, maypierce the film, may be provided with vacuum, etc. In FIG. 47(c), thepins have extended much more, forcing the flaps to separate and rotatethrough angles large enough to allow them to enter the gap between theupper and lower peeler clamps. At this time, pins 702 can be retractedfrom holes 703. If necessary, the peeler clamps can be notched so as notinterfere with the pins, or the clamps can be built as two separatepieces, each one on one side of the pins, possibly extending all the wayto the corners of the flap, or the clamps can partially close around theflaps, allow the pins to retract, and then fully close.

In some embodiments pins similar to those of FIGS. 47(a)-(c) may be usedfor the entire process of unsealing and dispensing from the pouch in thecase of Type 1 or 2A ingredients, without the need for the peeler ofFIG. 36(a) or similar. In such embodiments, four offset pins arepreferably used, with each pair of pins located close to the corners ofeach flap so as to avoid interaction with falling ingredients. The tipof one pin of each pair contacts flap 691 a and the tip of the other pinof each pair contacts flap 691 b, with both pins passing throughapertures in the opposite flap. Since the objective is to apply tensionto the flaps sufficient to open the pouch and not just separate/reorientthem, the tips need to be able to have traction on the flaps theycontact. In some embodiments this is achieved by making the tips sharpenough (at least at their tips, though they may be wider moreproximally) to penetrate the flaps, or by providing a small hole intowhich the tips can enter, or by using high friction tips and clampingthe flap between the tips and a moveable pad (similar to that of pad 740on passive arm 738, below), with the pad resisting the motion (e.g., viaa gas spring) and able to move parallel to the pin (e.g., horizontally).Thus by extending the pins, both flaps can be engaged and then tensionedso as to open the pouch and dispense the ingredient, after which thepins retract to allow the pouch to be removed from the dispenser. Flapapertures suitable for use in these embodiments can be formed with themethod of FIGS. 45(a)-(d) as well. If small holes (for pin tips) aredesired, these can be punched through both films simultaneously afterthe large apertures are punched and after the films have been shifted,just prior to sealing.

FIGS. 48(c)-(k) depict 3D and orthographic views of a portion of adispenser for dispensing from a pouch including seal 710, top seal 712,flaps 714 and chevron seal 711 such as that shown in FIG. 48(a), inwhich one corner of each flap has notches or apertures 706 and 708. Film1 has its right corner missing (indicated by a dotted line since Film 1is in the background) while Film 2 has its left corner missing. FIG.48(b) shows five pouches as they would be manufactured, before cuttingthem apart, as seen from the opposite site, with Film 1 in theforeground. Using the method shown in FIGS. 45(a)-(d), the pouches areproduced by punching with the notches offset much like the perforationsdescribed above, in this case by an amount that puts the notch in onefilm adjacent to that in the other (FIG. 49(b)). The cutter can bealigned so that the punched notches are open on two sides as desired.

FIG. 48(c) is an overview of a portion of the spreading/rotatingmechanism along with a notched pouch 716 and the blades 718 of adispenser, while FIG. 48(d) shows the mechanism without the mount,blades, or pouch, for clarity. A dispenser may comprise two suchmechanisms located at opposite ends of the blades; the mechanism isasymmetric and the two mechanisms are not mirror images, but rather,identical.

The mechanism in the embodiment shown comprises mount 720 which canattach to the dispenser or a nearby structure; stepper or servo motor722; bracket 724 to mount the mount onto carriage 726 that can translatea short distance along rail 728 (other methods of allowing the motor totranslate may be used, such as flexures); lead screw 730 (preferablywith multiple starts); lead nut 732; a clamp (not shown) holding thelead nut to the mount; coupler 734 to join motor shaft 735 to the screw;two arms (736 fixed to the screw and rotated by the motor, and 738passive) each ending in a pad 740 (preferably having a non-slipsurface), standard and thrust bearings used inside and on the sides ofthe passive arm; at least two springs; a collar 752 which retains thearms, bearings, and springs on the screw, and an actuator (here a smallair cylinder).

In operation, passive arm 738 is initially held in a raised position(FIG. 48(e)) by the extended rod 746 of the cylinder 747, which enterscavity 748 (FIG. 48(h)) in the arm. At this time, actuated arm 736 isrotated by the motor to a similar orientation, such that both pads arewell away from the flaps of the pouch when the pouch enters thedispenser. In FIG. 48(f), the actuated arm has rotated, and the passivearm (which is weighted or spring-loaded in some embodiments) has beenreleased by the cylinder so that the two pads surround right flap 742(the pad of the passive arm contacts the flap through Notch 1) on bothsides. In FIG. 48(g), the actuated arm has rotated further, pushing thepassive arm (the pad of which presses tightly against the actuated arm'spad due to the arm's weight or a spring), clamping the right flapbetween the pads and rotating and separating it from the left flap 744.In this new orientation, right flap 742 is between the upper and lowerclamps of the peeler, and by raising the lower clamp, can be captured.In this orientation (or in another orientation that can be reached bythe passive arm), the passive arm's cavity is aligned such that thecylinder rod can enter it again and lock it in position, after which theactuated arm can return to its original position, the result being theconfiguration shown in FIG. 48(e), with the mechanism ready to repeatthe cycle for the next pouch. Simultaneously (or at different times) theidentical mechanism at the other end of the blades has re-oriented theleft flap by clamping it between the passive arm's pad and the activearm's pad, the latter of which passes through Notch 2 to reach the leftflap.

In FIGS. 46(a)-(d) and FIGS. 47(a)-(c), pins manipulate the flaps moreor less symmetrically (in two locations, or roughly centered). Themechanism involving the notched flaps, on the other hand, manipulatesthe flaps asymmetrically (near one corner), and the flexibility of theflaps can lead to the flaps not entering the space between peeler clampsas evenly and completely as desired. In some embodiments a tensioningforce is applied to compensate for this. FIG. 48(i) is a 3D view of thepouch, showing the flap notches, the contact location 755 of pads 740which clamp the flaps, and the rotation of the flaps to reorient them sothey can be captured by the peeler clamps. The figure also depicts thetensioning force 758 which applied by the pads as they are reoriented indirection 760, raising the flaps high enough in their entireties so thatthey enter the peeler clamps completely.

Referring to FIG. 48(h), which depicts a top sectional view of themechanism used in some embodiments, it can be seen that a) the actuatedarm (which appears as multiple pieces in the section view) is fixed to(e.g., using setscrews) and rotated by lead screw 730 passing throughfixed lead nut 732; and b) the passive arm (which also appears asmultiple pieces) rotates freely on bearings around the lead screw. Thefunction of the lead screw and nut (and the carriage and rail) is toimpart a linear motion to the pads (parallel to the lead screw axis)while the arms rotate, thus applying the tensioning force noted above.In other embodiments this linear motion might be achieved using aseparate actuator and may not be simultaneous with flap rotation;however, use of a lead screw and nut allows for a simpler mechanism. Thelinear motion is shown in FIGS. 48(j)-(k), which are views of themechanism from below. In FIG. 48(j), the arms are in the position ofFIG. 48(e) and the gap between passive arm and mount is Gap A (754),while in FIG. 48(k), the arms are in the position of FIG. 48(f), and thegap has decreased to that of Gap B (756). To avoid interfering with thefree motion of the passive arm, thrust bearings 750 and radial bearings751 are provided on either side of it; since the arms translate, springs172 are used on either side of the two arms so that the two arms remainclose to one another at all times.

In some embodiments pouches with notches in their corners may beunsealed by apparatus similar to that of FIG. 48(d) in which pads 740are able to travel further, applying tension to the flaps that causesthem to open; linear translation of such pads (e.g., horizontally) vs.rotation may be used in such embodiments.

FIGS. 49(b)-(d) show plan views of a method for fabricating poucheshaving partial flaps (hereinafter, “tabs”), much like those in FIG.11(c), which allows the peeler clamps to reach the flaps and separatethem (e.g., by traveling along curved tracks as in FIG. 13(d). Inembodiments which allow peeler clamps to grasp the flaps in their normalposition (without needing to reorient them rotated first), then thedispenser needs no mechanism to move the flaps into the peelers, and ifthe grasp is secure enough, apparatus such as the grippers and slidetables of FIG. 54(a) of the FIG. 57(e) may also be superfluous in someembodiments, since tightly-grasped flaps may in some embodiments bepulled apart reliably even if the flaps are initially curved/distortedrather than flat.

The method is essentially that depicted in FIGS. 45(a)-(d) in that itinvolves punching two films at once, and shifting one relative to theother before forming a seal. As noted above, while only a single columnof pouches is shown as would be the case using narrow webs, multiplepouches can be made simultaneously using wider webs. FIG. 49(a) showsthe shape of punch 762 used in some embodiments to create the desiredtab geometry. In FIG. 49(b), Film 1 (764) and Film 2 (766) are shownside-by-side for clarity, but in fact would be overlapped, with theirleft edges aligned. Both films have been punched, creating Film 1 tab770 a and Film 2 tab 770 b. The cutting line 768, along which poucheswill later be singulated, is also shown. The concave corners of each tabare preferably rounded as shown, or chamfered, to minimize the risk offilm tearing. In FIG. 49(c), both films are advanced in direction 771but Film 1 has been retarded relative to Film 2 (both are shownside-by-side, again for clarity), allowing tabs on both films to laterbe accessed on both sides, without interference from the other film. InFIG. 49(d), both films (now shown overlapped) have been sealed togethercreating seal 772. In some embodiments tabbed pouches similar to thoseshown, but with two or more tabs per film per pouch, can be madesimilarly (and with a smaller relative shift), resulting in a set ofinterleaved tabs which can be grasped by the peeler clamps, and moreuniformly apply peeling forces to the flaps.

FIGS. 50(a)-(f) depict elevation views of a method and apparatus forseparating and reorienting the flaps of a pouch that requires nooffsetting (as in FIG. 41(b)), perforation, or notching. In FIG. 50(a),the flaps of pouch 774, having upper part 776, has been inserted betweenpad 778 adjacent to Flap 1 (780 a) and wheel 781 (in some embodimentsone of two, e.g., at opposite ends of the flap) adjacent to Flap 2 (780b). The pad and wheel are capable of moving (e.g., along arced paths).Pad 778 is retained (e.g. by an actuator such as the cylinder of FIG.48(i) and may be weighted or spring loaded such that when released, itwill descend to the position shown in FIG. 50(b). Wheel 781 is actuatedboth to move and to rotate. Preferably the surfaces of both pad andwheel have high friction with respect to the pouch material, allowingFlap 1 to remain in place as Flap 2 slides against it, and allowing theroller to turn with minimal slippage against Flap 2.

In FIG. 50(b), the pad and wheel have moved toward one another (e.g.,along directions 782 and 784) pushing the flaps together. In FIG. 50(c),the wheel has rotated in direction 786 while in contact with Flap 2,causing the flap to buckle and start to be displaced upwards, and withfurther rotation of the wheel (FIG. 50(d)), Flap 2 no longer intervenesbetween Flap 1 and the wheel, and the wheel has contact only with Flap1. Thus in FIG. 50(e), the wheel can now move in direction 788 in thedirection of the pad, carrying Flap 1 along with it while the latter isclamped between pad and wheel, leaving Flap 2 behind. Flap 1 is thenclamped by the peeler clamps on the left side. In FIG. 50(f), the padremains in its original, upper position while the wheel swings indirection 790 and contacts Flap 2, rotating it upwards and between thejaws of the peeler clamp on the right side. Before inserting the nextpouch, the wheel returns to the position shown in FIG. 50(a).

The wheel rotation required can in some embodiments be produced byhaving the wheel turn eccentrically on shaft 792 (e.g., equipped with atorsional spring to return it to its original position) as shown in FIG.50(g). As the shaft moves in direction 794, forcing the wheel into theflaps and against the pad, the wheel is forced to rotate clockwise dueto its eccentricity relative to the shaft being located below the centerof the wheel. The wheel diameter is large enough that its tangentialmotion is sufficient to displace Flap 2 and allow contact with Flap 1 asin FIG. 50(d). The rest of the sequence is similar to that shown inFIGS. 50(e)-(f).

For ingredients which adhere to the inner surfaces of the pouch films,pulling on the films to peel them (especially for a Type 2B ingredient)in which much or all of the pouch is peeled open), the moving pouchfilms can serve as a “conveyor belt” transporting the adherentingredients toward the blades, where they often detach and fall into adish or other substrate below as in FIG. 8(j). For less or non-adherentingredients (e.g., a tomato or onion slice that is to be laid onto a bunwithin a dish), a vertically-oriented pouch would allow the ingredientto fall out, rather than remain on the “belt”. As shown in FIGS.31(a)-(c), if the surface onto which the ingredient descends is moving,large ingredients may be caused to fall over in a controlled way.However, more control may be possible in some embodiments in which, asshown in FIG. 51, at least a portion of the dispenser (e.g., one blade796, one peeler) as well as other components (e.g., grasper 798) aretilted such that at least one wall 800 of the pouch is at a smallerangle to the horizontal then normal (e.g., as small as zero degrees),and can serve as a conveyor belt. As shown, through a coordinated motionof film 800 (moving down and to the right in direction 799, carrying theingredients) and dish 802 (moving to in direction 804), a tomato slice806 (one example of many) can move in direction 808 and be laid onto bunhalf 810 in a controlled manner (e.g., the correct side can be up (ifapplicable) and it can be well-centered). As film 800 (and opposite file812) are pulled (in direction 814 for film 800, and in direction 816 forfilm 812), film 812 may pass over blade 820, or be pulled directly;grasper meanwhile moves in direction 822. Other ingredients can besimilarly dispensed: e.g., a pepperoni slice laid onto a pizza, pickleslices, grilled mushrooms, lettuce, or relish laid onto a hamburger,etc.

Vibrating, shaking, or tapping the film before and after it passesaround the blade can be helpful to dislodge adherent ingredients. Insome embodiments, this is done directly to the film, while in others, itcan be done to elements of the machine in contact with the film, such asthe blade. For example, the blade, which may be compliantly mounted, canbe struck by one or more oscillating rods (e.g., from a small solenoidor air cylinder, e.g., impinging on its top surface), or may havemounted to it one or more small vibration motors.

The ability to translate the dispenser with respect to the dish orvessel into which an ingredient is dispensed, or vice-versa, along twoaxes allows for a given ingredient to be placed within the dish at aspecific location. This can be achieved, for example, using two linearmotions, or one linear and one rotational motion. In the case of someingredients—especially those that are not roughly equiaxed (e.g., babycarrots, rolled cookies) or symmetric, it can be beneficial at leastaesthetically to provide an additional motion axis, allowing theingredient orientation to also be controlled. FIG. 52(a) depicts dish824 into which ingredient 826 such as a carrot has been dispensed (e.g.,as a garnish). With only two axes of motion, location can be controlledbut not orientation. Adding a third axis as in FIG. 52(b) allows a morepleasing (and in some cases, more functional) arrangement of theingredients, e.g., one that is rotationally symmetric.

Pouch flaps generally become curved and distorted, and difficult toflatten and rotate to a position that allows them to be grasped (if theyneed to be separated in order to grasp them) due to the distortion ofthe pouch caused by the weight and volume of its contents, or due to theevacuation of air inside the pouch, or pressurizing the pouch with amodified atmosphere gas, as the case may be. In the case of a Type 1ingredient, the effect of gravity can exacerbate the distortion when thepouch is oriented normally (flaps at the bottom). Thus, in someembodiments, to facilitate flattening of the pouch flaps so as to makethe flaps easier to rotate, the pouch can be tilted to anotherorientation (e.g., horizontal, partially or fully inverted) before theflaps are rotated. Once the flaps are grasped securely, the pouch can bereoriented as needed for dispensing.

If a pouch is vacuum packed or contains air or a modified atmospheregas, then before the pouch is opened (e.g., before attempting tore-orient the flaps before they are gripped by the peeler clamps), thepouch can be opened (e.g., near the top) in a small area to allow gasexchange and minimize pouch distortion caused by the pressuredifferential between inside and outside the pouch. This can be done bypiercing or ablating the pouch, peeling it in a particular region (e.g.,a pull tab may be provided for this that the apparatus can grasp andpull), tearing or cutting it (e.g., a tear notch may be provided, etc.).If a permanent part of the machine comes into contact with the pouch, itpreferably does not come into contact with the ingredient within thepouch. To avoid this in some embodiments a gas-permeable but otherwiseimpermeable material (e.g., TYVEK® or GORE-TEX®) may be incorporatedinto the pouch adjacent to the location where the pouch is opened.

For Type 1 ingredients, after opening the pouch and before extending thesqueegees, the pouch can be raised (while simultaneously lowering thepeeler clamps) so that the squeegees can travel over more of the fullheight of the pouch; without this, the lower portion of the pouch may betoo low for the squeegees to reach, such that some of the ingredientremains in this region.

In some embodiments it is desirable to have the opening of the pouch asclose as possible to the dish or vessel below it (e.g., to reduce therisk of splatter as the ingredient falls). This can be accomplished bylowering the pouch relative to the blades, thus making the pouch filmsbetween the blades more horizontal. Increasing the angle between the twofilms between the blades can also reduce the tendency of the ingredientto cling to the inside surface of the pouch as it issues from theopening.

Some ingredients within a pouch may tend to clump together. To separatethem for use, several methods can be used, depending on the ingredient.For example, air may be let into the pouch if previously under vacuum,and the pouch may be inflated to increase its volume, after which thepouch can be sealed or held closed, and agitated (e.g., tumbled) to helpbreak apart clumps. Without contacting the ingredients, the pouch can bevibrated, shaken, folded, twisted, rolled, etc., or one or more blunttools (e.g., interleaved) can impinge on the pouch walls (e.g., rolling,pushing) to help break up clumps inside. Liquid (e.g., water) can beintroduced into the pouch, which can tend to separate clumps heldtogether by surface tension; the liquid can then be drained beforedispensing the ingredient. To avoid ingredient clumping, separatorsheets, tubes, or other shapes within the pouch can be included, madefrom parchment paper, wax paper, etc. These can be fixed to the pouch(e.g., at the top and/or sides) so that they don't fall into the dishwhen the pouch is opened.

In some embodiments pouches, especially those containing Type 2Bingredients, can be everted (turned inside out) to dispense theingredient within. This can be especially useful for pouches that arereusable and flexible (e.g., elastomer pouches used in a home appliancesuch as that in FIGS. 31(a)-(l) of the 074 and 253 filings.

In dispensers such as that shown in FIGS. 8(a)-(k), the pouch may enterthe dispenser from the side (i.e., horizontally), either when the pouchis at the correct height for dispensing, or at a greater height (afterwhich it descends to the correct height).

The pouch guides of FIG. 38(b) may be spring loaded or otherwisemoveable/compliant such that a bulging section of the pouch can stillpass.

The grasper of FIG. 19(d) filing may be provided with means of readingcodes (e.g., bar codes) on the pouch using such methods as opticalsensing and, if the codes are not perfectly flat and thin (but, forexample, if they are embossed), tactile sensing. For example, a pressuresensing array in the grasper jaw may be used to read such a code, or asensor based on Gelsight technology (Gelsight, Waltham, Mass.) may beused.

When loading a pouch into a dispenser, to avoid inadvertently foldingthe flap the system can a) move the pouch past the dispenser center whenmoving horizontally, then center it; b) move the pouch vertically belowthe height at which dispensing will begin, then raise it to that height.Bristles or similar biased structures which preferentially allow motionin one direction (e.g., downwards) but not upwards can be useful tounfold the flap during these movements or otherwise.

If the rate of an ingredient being released from the pouch isn't wellcontrolled, the motion of the dish below it can be coordinated with itnonetheless by sensing the actual rate and adjusting the bowl motionaccordingly. For example, if the dish is weighed during dispensing,and/or if the pouch is weighed, rates can be determined. Sensing mayalso be used, such as optical sensing to measure such behavior as aningredient protruding from the pouch, detaching from the pouch, pouringout of the pouch with a particular stream diameter, etc.

Pouches holding some ingredients (e.g., Type 1 or 2A) can be opened bymeans other than peeling, and therefore may not include flaps. Suchmeans are preferably non-contact, to avoid any contamination of thesystem (thus cutting them open with a blade, unless disposable or easilyand thoroughly cleaned, is undesirable). For example, pouches can beopened by using a laser (e.g., carbon dioxide, excimer, diode) to burn,melt, or ablate the pouch material along a path that opens the pouch.Similarly, plasma, electrical discharge, and other methods may be used,depending on the pouch material (e.g., polymer, metal) in the region ofthe pouch to be opened.

In some embodiments, pouches without flaps containing some ingredients(e.g., Type 1 or 2A) but having at least one peelable seal may be used.These may be peeled open by grasping the sides of the pouch (e.g., usingvacuum) and pulling them apart, by pulling on a portion of the pouch totear it (e.g., using a tear notch to start the tear, and optionallyusing pre-scoring the pouch to guide the tear, or pulling on an embeddedstring or wire.

Systems

Systems such as that of FIG. 26(a) can be adapted to prepare foods whichare cooked (e.g., stir fries, Mongolian bar-b-que, stews) by usingdishes (e.g., metal) which are heated, and which may be in the form offoil liners within heated vessels as in FIG. 12 or 20 of the 074 and 253filings.

FIGS. 53-54 are flowcharts describing processes for providing a customerwith food using a system such as those described herein. Ingredientsstored within the system may be refrigerated or in some cases, frozen.The flowchart of FIG. 53 assumes that at least one ingredient requiresheating (or cooking) before serving, and heating is performed in thepouch, while that of FIG. 54 assumes at least one ingredient requiresheating, and heating is performed in the bowl (or dish, plate, or othervessel in which the food is served or further processed; for certainheating methods such as broiling or halogen cooking this may be a metalcontainer such as an aluminum foil dish). Heating in the pouch may beachieved by a variety of methods such as infrared, microwave, RF,electroporation, pulsed ohmic heating (IXL Netherlands, Schalkwijk, TheNetherlands), laser, halogen, immersion in hot liquid, and steaming. Insome embodiments the wavelength(s) or radiation that may be used forheating are selected so as to be minimally absorbed by the packagingmaterials and maximally absorbed by the ingredients. Heating within thebowl may be achieved by methods such as microwave, RF, halogen,electroporation, hot air impingement, convection, pulsed ohmic heating,broiling, baking, and steaming. After dispensing an ingredient from apouch, the pouch may be disposed of, but if there is a useable quantityof an ingredient left within the pouch, the pouch may be returned tostorage (e.g., cubby or MEP). If the pouch is subdivided into multiplecompartments (e.g., each may have a chevron-shaped seal at the bottom)and fewer than the total number of compartments is opened, or if thepouch is resealed (e.g., thermally, ultrasonically, using a zipper,possibly along with a vacuum or tacky film to remove contaminationbefore resealing), the pouch may be returned to storage if theingredients haven't expired and a use is anticipated. Sometimes a pouchmay be disposed of before it is empty (e.g., if the customer wants lessof an ingredient stored in a pouch that cannot be resealed). In someembodiments unwanted quantities of an ingredient in a pouch may bedispensed into a waste container (e.g., one beneath the bowl, while thebowl is moved out of the way). If several ingredients are to be heatedwithin the bowl and there are other ingredients that it is desirable notto heat (e.g., in a burrito bowl, the first category may include riceand beans, and the second category may include salsa and guacamole) thenthose to be heated may be dispensed first, then heated, followed bydispensing into the bowl the non-heated ingredients.

In Box 828 of FIG. 53, a customer order is received (e.g., for a burritobowl). The machine controller moves a new/clean bowl (or other dish)under the dispenser in Box 830, and in Box 832, the ingredients requiredfor the order (based on a digital recipe and customer preferences) aredetermined. Then in Box 834, the controller identifies, based on storeddata, in which storage locations (e.g., which cubbies) the requiredingredients are located, considering expiration dates (e.g., givingpriority to ingredients closer to their expiration). Then in Box 836,the controller moves the grasper to the location of the first ingredientto be added to the bowl and the pouch containing it is grasped andremoved from the storage location. The controller then determines in Box838, based on stored data and possible customer preferences, whether theingredient requires heating (e.g., beans), and if so, under whatconditions (e.g., time, temperature, power level). If the ingredientrequires heating, then in Box 840 the controller brings the pouch to aheating system or vice-versa and the pouch is heated (e.g., by immersionin hot water, microwave, RF). After heating, per Box 842, the controllermoves the pouch to the dispenser, and in Box 844, the controller directsthe ingredient to be dispensed into the bowl. If the ingredient does notrequire heating, the pouch proceeds directly to the dispenser. Thecontroller determines (e.g., based on knowing the pouch characteristicsthat are contained within the barcode or other identifier, based on howmuch dispensing was done, pouch weight after dispensing (if measured),etc.) in Box 846 whether any usable ingredient remains in the pouch(which may be a multiple-compartment pouch, or a resealable pouch). Ifusable ingredients remain, the controller directs the grasper in Box 848to return the pouch to storage, whereas if no such ingredients remain,the controller directs the grasper in Box 850 to transfer the pouch to awaste bin (e.g., allowing it to drop into a bin located below thedispenser, in which case the grasper is simply opened (possibly afterthe pouch is further lowered). The controller then determines in Box 852whether the order requires any other ingredients. If so, then thecontroller directs the process described above to be repeated startingat Box 836. If not, then the controller delivers the bowl to thecustomer in Box 854 and the process ends.

Referring now to FIG. 54 (and with the parenthetical comments of theabove paragraph removed for brevity), in Box 856 of FIG. 54, a customerorder is received. The machine controller moves a new/clean bowl underthe dispenser in Box 858, and in Box 860, the ingredients required forthe order are determined. Then in Box 862, the controller identifies,based on stored data, in which storage locations the requiredingredients are located, considering expiration dates. Then in Box 864,the controller moves the grasper to the location of the first ingredientto be added to the bowl and the pouch containing it is grasped andremoved from the storage location. Then per Box 866, the controllermoves the pouch to the dispenser and in Box 868, the controller directsthe ingredient to be dispensed into the bowl. Next, in Box 870, thecontroller determines whether the ingredient requires heating. If theingredient (e.g., lettuce) does not require heating, then the controllerdetermines in Box 872 whether any usable ingredient remains in thepouch. If usable ingredients remain, the controller directs the grasperin Box 874 to return the pouch to storage, whereas if no suchingredients remain, the controller directs the grasper in box 876 todiscard the pouch in a waste bin. If the ingredient (e.g., chicken) doesrequire heating, the controller determines in Box 878 whether otheringredients to be added to the bowl also require heating. If so, thenthe controller directs the process described above to be repeatedstarting at Box 864. If no other ingredients require heating, then thecontroller directs in Box 880 the ingredients to be heated while withinthe bowl (e.g., using microwave or RF radiation). The controller thendetermines in box 882 whether any additional (non-heated) ingredientsare required, and if so, then the controller directs the processdescribed above to be repeated starting at Box 864. If not, then thecontroller delivers the bowl to the customer in Box 884 and the processends.

Certain steps in the flowcharts may in some embodiments not be in thestrict chronological order shown or described herein, but may occur in adifferent order or simultaneously.

Some automated food preparation systems may include fire detection andsuppression systems, as required for safety. Some systems may generatefumes and/or grease vapor/gas/particles or smoke and may include anexhaust duct or other filtration system that can be cleaned or replaced.In some embodiments the system may include at least one chambers whichis refrigerated (e.g., for ingredient storage) and at least one otherchamber in which heating of ingredients takes place. In addition tothermal insulation between such cold and hot chambers, double doors orairlocks may be used to transfer pouches and/or dishes and vessels fromone chamber to another, to minimize heat transfer between them.

Some automated food preparation systems may be used on a vehicle, suchas an airplane, bus, or train. Such systems may also include delivery topassengers. For example, a system may dispense (and possibly furtherprocess, such as heat) ingredients into a dish, add a lid (snap-on, heatsealed film, etc.), then move the dish to the passenger via an overheatconveyor/trolley (having sensors to avoid collisions). With such asystem it becomes possible to eliminate the standard approach to servingmeals on a plane, for example, which requires a cart pushed by flightattendants (who may have other responsibilities, or in case ofturbulence, should be belted into a seat), resulting in fresher/bettermeals and snacks.

Since pouches are small and lightweight, then a food preparation systemcan be very mobile: collecting from a fixed (or larger mobile) storagesystem only the pouches needed for a particular dish or dishes, andtransporting these to the customer, preparing the food while en route orupon arrival to maximize freshness. Thus, systems can be built whichprovide food to a hotel, hospital, or dormitory room; apartment orcondominium; or which using small robots (e.g., autonomous) and otherplatforms to bring food to passengers of a car (parked or moving) byrolling, flying, or (if the passengers are in a boat), optionallynavigating on water. In some embodiments (e.g., for delivery to a movingvehicle) a docking station may be provided on the vehicle so that thedelivery/food preparation platform can temporarily dock with the vehiclewhile transferring food to it. For example, delivery of fresh food to acar, truck, or bus that is moving toward a destination is achievable.

In some embodiments machines may incorporate peristaltic pumps totransport flowable ingredients, with the pump tubing replaced whenneeded (e.g., potentially very infrequently if pumping water).

In some embodiments multiple squeegees/rollers may be used in adispenser on each side of the pouch, such that the contents are pushedout by more than one, acting in succession, or with each squeegee/rollertravelling over only a portion of the pouch compartment height.

In some embodiments one or more paddle wheel-like devices exterior topouch 885 (so they are not contaminated) with flaps 893 and containingingredient 891 can be used to control dispensing of ingredients from thepouch (e.g., those which might ordinarily fall out too quickly). FIG. 55depicts an elevation view of two such paddle wheels 886 a and 886 brotating on pivots 887, which are shown with two paddles 889 each, butwhich can have one or more than two. As the wheels turn (typically indirections 888, but they can turn in the opposite direction) andoptionally move in direction 895, they trap ingredients between thepaddles, releasing them gradually according to the paddle angle. Paddlewheels such as those in FIG. 55 may replace the squeegees of squeezersused to dispense Type 1 ingredients from pouches in some embodiments, inwhich case they can translate (downward as shown, or upward) as well asrotate.

Minimizing Cleaning

In some embodiments mixing, blending (e.g., to prepare a smoothie), andsimilar operations on ingredients may be performed such that no cleaningof the machine is required, since no non-disposable/non-consumableportion of the machine comes into contact with any ingredient. Forexample, an immersion-type blender with blades, a shaft driving theblades, and a motor at the top turning the shaft, may be lowered into adisposable cup used for serving the smoothie. The blades and shaft ofthe blender may be covered with a disposable coating material such as aplastic film, which can be automatically inserted and removed by themachine. Alternatively, the blades—and in some embodiments, theshaft—can be disposable. FIG. 56(b) depicts in cross-sectional elevationview a disposable blender blade and shaft (e.g., made from a high-impactpolymer such as FDA-compliant ABS) which includes a shell 896 thatcovers a permanent core up to the maximum height ingredients may reachduring blending. The core comprises shaft 898 that is square, hexagonal,splined, etc. in cross section and the inner cross-section of the shellcan match this shape. Since disposable materials such as molded plasticmay not be sufficiently strong or stiff to serve themselves as blenderelements and it is desirable to dispose of/recycle as little material aspossible, the shell can be made thin (e.g., via blow molding) into whichis inserted a reusable stronger and stiffer (e.g., metal) core (FIG.56(a)). As the shape of the blades can be complex, it can be thereforebe difficult to insert a stiff core within a shell shaped like astandard immersion blender blade. However, if properly designed, thecore can comprise tongues 890 which can elastically deform (e.g., springsteel, superelastic nickel-titanium alloy) in the region of the bladesand bend easily in one direction but be stiff and strong in aperpendicular direction (the direction in which force is primarilyexerted on the blades). Thus, the tongues may have the form of bendableleaf springs, and inserting the elements into the shell may comprisesliding in direction 892 the tongues into cavities within the shell, thetongues bending to conform to the inner shape and/or desirably shapingthe shell, which itself may be flexible. As the blender rotates indirection 900, it may be translated axially or perpendicularly and/orrotated to more effectively blend the contents. Other tools besidesblender blades may be implemented similarly using a disposable polymershell that is reinforced by a stronger and stiffer core.

A knife (e.g., an ultrasonic knife, which might be used for cuttingsandwiches) can be covered (e.g., wrapped at least partially undertension, held by vacuum or temporary adhesive) with a disposable film(e.g., foil, hard plastic like PET) so it can cut food items withoutcontamination and need for cleaning. If cleaning or an ultrasonic knifeis needed, it can be made more effective by applying/immersing it in acleaning fluid (e.g., water) to the knife while ultrasonically vibratingit. Slicing and chopping of ingredients within a pouch can be achievedusing pressure and/or ultrasonic energy applied through the pouch walls.Ingredients can be separated (e.g., torn, broken) within a pouch byclamping two portions of the pouch and pulling them apart, twisting,bending, etc.

Systems having surfaces that do come into contact with ingredients canbe sterilized by a number of methods such as hot air, hot water,sterilizing liquid (e.g., heated), steam, ultraviolet light, e-beam orother radiation, etc.

Pouch Filling

In some embodiments a “mold” may be provided for pouches which clampsthe pouch along its peelable seals (sides, chevron) but bends or deformsto allow the pouch to expand and open for loading (vacuum may be used tohelp the pouch open/stay open). The mold allows ingredients to beforcefully “stuffed” into the pouch without the risk of peeling/damagingthe seals. In some embodiments grippers which grasp the pouch while in apre-made pouch filling/sealing machine can also prevent peeling; suchgrippers can be larger than usual to protect more of the seal, includingthe chevron. Such grippers can also shake the pouch to encouragesettling of an ingredient loaded therein, allowing more to be added andensuring the top seal region of the pouch is free of the ingredient.

Pouches can be filled with ingredients in some embodiments by 1) pullingapart their opposite walls (e.g., using tacky pads and/or suction cupsprovided with vacuum) at least partially; 2) inserting a curvedliner/expander (FIG. 57) into the pouch; 3) filling the pouch; and 4)withdrawing the liner/expander (e.g., while the ingredient is introducedinto the pouch). The liner/expander, having the shape of a flattenedfunnel whose inner and outer surfaces don't communicate except at thebottom 902 and top 904, serves to keep the inside surfaces of the pouchfree from contamination by the ingredients in the area to be sealed;maintains the pouch in an widely-open configuration, facilitatingloading; and may facilitate pouch “stuffing”, e.g., with ingredientsthat are normally low density (e.g., cut-up kale) such that it withoutsome compression, an adequate weight cannot easily be made to fit into agiven pouch. If the pouch is peelable at least in part, stuffing aningredient into it may cause premature peeling. By lining the pouchduring loading, the rigidity of the liner/expander prevents forces frombeing transferred to the pouch walls. Each ingredient to be loaded in apouch may be loaded using its own liner/expander. While the innersurfaces of the liner/expander will be contaminated with a particularingredient, the outer surface will generally remain clean since even aflowable ingredient will not flow onto the outside of the liner/expanderif the latter is withdrawn as the ingredient is added.

The top seal of a pouch may be created using a variety of sealingmethods including heated (impulse or constant heat) or ultrasonicsealers. If using a band sealer, pouches can be fed into the moving bandusing feed rollers or belts whose tangential speed is lower than that ofthe band sealer, and with provision for the pouch to slip within therollers/belts (or their drive can be made to slip using a clutch), thusproviding tension across the top seal area prior to sealing, to ensurethe seal is formed correctly and without wrinkling or other potentialsources of leakage.

Pouches in a continuous chain (FIG. 7(a) as-fabricated and beforesingulating (or if used in chain form, as-is) can be loaded by a systemthat sequentially opens each pouch, fills it, tensions it (this can beeasier when the pouches form a chain) and passes it on for sealing(e.g., in a band sealer). After loading and probably sealing, pouchescan be cut apart if desired.

A group of pouches to be filled may be supported (e.g., in an“eggcrate”-like structure lying horizontally, or a pouch box, or ashelving unit or module thereof (e.g., a module with rotatable cubbieswith the open ends of the cubbies pointing upwards), and filled one byone (or with at least some pouches filled simultaneously) and thensealed. To remove air from pouches before the seal area is compressedand then sealed, a vacuum snorkel can be used (which can move along withthe pouches if using a band sealer), or the pouch can be mostly immersedin a container filled with liquid (e.g., water) which moves along withthe pouch on the sealer's conveyor belt, or has the form of a longtrough through which the pouch moves. In lieu of liquid, a fluid-filledflexible bladder or bag, e.g., moving along the belt, may be provided tosurround the pouch and squeeze out air.

Ingredient Heating and Cooking

To eliminate or at least minimize contact between ingredients and thesystem that assembles/processes them before serving a meal or snack(thus minimizing microbial growth, the need for cleaning, andinter-contamination), it is desirable to perform various heating (orcooling, as the case may be) and cooking operations within an ingredientpackage (e.g., pouch). The package can be one that contains at least oneof the ingredients, or one specifically used for heating/cooking andinto which ingredients are transferred. Or, surfaces of the system canbe made easily cleanable or covered with replaceable (e.g., single-use)materials that prevent direct contact with ingredients.

The 3D view of FIG. 58 depicts a method and apparatus for heating orcooking, e.g., toasting or roasting, an ingredient. For illustration, aslice of bread 908 is shown being toasted, but many other ingredientsand combinations thereof are possible, e.g., a sandwich (e.g., grilledcheese), a Portobello mushroom cap. In some embodiments the ingredientis initially within a pouch (not shown) and once released from thepouch, descends between heat-resistant, preferably narrow andinexpensive supports 910 (e.g., stainless steel wires or rods,PTFE/fiberglass strips) which may be vertical as shown, horizontal, orat other angles (not all need be at the same angle) and which arepreferably disposable (in some embodiments the supports are in the formof continuous wire or strips which are advanced after each use). In someembodiments, in lieu of the ingredients descending into the supports,the supports are incorporated into the pouch and already surround theingredient, and the walls of the pouch are peeled away. In someembodiments the ingredient descends until it reaches dish 912 below,such that the ingredient is held upright (or at another angle) by thesupport and dish and at the desired distance from one or more radiationsources, allowing it, in some embodiments, to be heated/cooked frommultiple sides. The dish may be position off-center as in the figure,allowing the ingredient to fall onto the dish in a desired (e.g.,centered) position once the supports are moved (e.g., sideways) orremoved. As shown, radiation sources 914 may be on either side (e.g., IRlamps, heated wires, lasers (which can heat selectively, in a pattern),heated hot, RF or microwave energy generators, etc.) and expose theingredient, heating or cooking it. In some embodiments the rods formclosed loops passing under the ingredient, suspending it, in which casejuices in the pouch and produced while heating can fall into a waste binbelow (the dish can be introduced beneath the ingredient afterwards).Crumbs or other small pieces of the ingredient that are in the pouch orwhich shed during processing fall into the dish, which can be disposable(e.g., single-use), rather than contaminating the machine.

In some embodiments, no supports are needed. Once a pouch containing aningredient is sufficiently opened and pulled away from the ingredient,the ingredient can be retained (e.g. in a vertical orientation) near itstop, and exposed to a heat source. For example, a slice of bread may betoasted by peeling the pouch while lowering it vertically until thebottom of the slice rests on a dish or other substrate. The top of theslice can be stabilized by the pouch films or the dispenser squeegees(which may be extended to clamp the slice near its upper surface ifneeded). Once the bread is toasted, the pouch can be raised by thegrasper and removed. The squeegees can be extended above the slice toensure it doesn't move with the pouch as the pouch is raised.

In some embodiments an ingredient to be heated can be suspended from oneor more wires or other filaments (e.g., passing through the ingredientand forming one or more closed loops, or loops with larger, anchored, orsupported ends), which may be attached to the pouch (e.g., near its top)so that it is accessible to heating apparatus yet remains in acontrolled position. The heating apparatus can include at least onesurface brought into contact with the ingredient, or producing infraredradiation, a source of microwave or RF energy, hot gas or liquid, alaser, a steam generator, and others. If the wires are thin and easilybroken, raising the pouch as described with the squeegees extended breakthe wire to allow release of the ingredient.

In some embodiments of the apparatus, ingredients can be heated,grilled, or otherwise cooked in a non-contact fashion (e.g., viaindirect contact with one or more heated surfaces, through the pouchwalls) as depicted in the cross-sectional elevation views of FIGS.59(a)-(b). In FIG. 59(a), an ingredient 916 (e.g., a raw, fully-cooked,or partially-cooked hamburger patty or boneless chicken breast) may becontained within a pouch 918 or other retaining structure (the “innerpouch”) located inside another pouch 920 or other structure (the “outerpouch”) that is fully sealed if needed. Outer pouch 920 may serve toimprove barrier properties, further protect the ingredient from theenvironment, protect inner pouch 918 from damage, and prevent anyportion of the ingredient from leaving the pouch. The inner pouch servesto retain the ingredient during further processing once the outer pouchis opened (and in some cases, moved out of the way, so as to provideaccess). The two pouches may be made of different or the same materials(e.g., a heat-resistant material such as metal foil or parchment paperfor the inner pouch, and PET or nylon for the outer pouch). Both pouchesmay be peelable (e.g., with flaps 922 and 924 as shown). The top portionof the inner pouch may be attached to top seal 926 of the outer pouch(e.g., it may be sealed along with it) and can serve as tether 928,allowing the inner pouch to be suspended from the outer pouch.

In FIG. 59(b), the outer pouch has been peeled away around thedispenser's blades 929, which allow the outer pouch's films to be keptwell above the inner pouch. Heated plates 930 (which may be ribbed so asto impart grill marks on the ingredient) are shown converging indirection 931 on the sides of the inner pouch, about to contact theingredient through the inner pouch walls. In some embodiments othermethods of heating (e.g., microwave, RF) the ingredient are used. One ormore holes may be made in the inner pouch (e.g., in its upper portion)to vent steam, gasses, etc. which may be generated while cooking. A hoodor tube provided with an exhaust or vacuum fan may be introduced towithdraw anything issuing from the inner pouch to the outside, pass itthrough filters, etc.

If the ingredient is cooked by the plates, juices 932 may collect at thebottom of the pouch (this area may be isolated using a discontinuous orporous seal below the ingredient (not shown), such that the ingredientis suspended and the juices collect beneath it) or if the bottom isperforated or porous, or peeled open (plate pressure will retain theingredient), juices will drip into a waste bin below. Once juices havebeen captured, a dish can be moved underneath the inner pouch and thepouch peeled open to release the ingredient onto the dish.

In some embodiments the inner pouch may include openings (e.g., opensides, slots or other perforations) which allow for the ingredientwithin, or portions thereof, to be released at the appropriate timewithout having to open the pouch. Perforations in the inner pouch canallow liquids, gasses, and/or ingredients or particles smaller than theperforations to enter or exit the inner pouch. For example, potatoes,rice, or pasta may be packaged within an inner pouch having the form ofa mesh, then lowered into a container of boiling water for cooking oncethe outer pouch has been peeled and pulled out of the way.

FIG. 60 depicts a specialized, preferably disposable pouch having flaps933 for grilling or other forms of processing and cooking in which thepouch is subdivided into multiple compartments. An ingredient 934 suchas a burger patty may be cooked entirely within such a pouch without theingredient or its emissions coming into contact with and contaminatingthe food preparation apparatus. The pouch may be made primarily ofmaterials such as PET or another polymer and may comprise severalcompartments: 1) a lower liquid compartment 936 intended to containdrippings 937, and having a peelable/frangible seal 938 along its bottomand an interrupted/discontinuous/liquid permeable and peelable/frangibleseal 940 (e.g., produced by heat sealing) or alternative ingredientsupport along its top; 2) a central ingredient compartment 942containing the ingredient to be processed, having a heat-resistantmaterial 935 (e.g., metal foil, parchment paper) on one or both sides ofthe ingredient and peelable/frangible seal 944 along its top whichprevents the ingredient or any part thereof (e.g., juices) from enteringthe filter before seal 944 is opened; and 3) an optional upper filtercompartment or region 946 containing and retaining a filter 948, havingin some embodiments peelable seal 950 along its top. However, in someembodiments one or more pouch walls or portions thereof may serve as afilter. The filter may comprise at least one porous filter material suchas filter paper, metal wool or mesh, cotton, synthetic, nonwovenpolyester, viscose, an impregnated material, activated charcoal, oroleophilic materials such as wool (U.S. Pat. No. 7,465,332) orcombinations thereof, able to trap and filter out pouch emissions suchas gas, vapor, and/or particulates (e.g., grease in all its forms),water vapor, and/or odors so that none of these reach the apparatus,where they can create problems of sanitation and intercontaminationand/or interfere with system functions, or escape into the air (unlessdesired: e.g., the smell of cooking food might be advantageous torelease outside the system). The filter material preferably fills thefilter compartment and/or is sealed to it so that the only path out ofthe pouch is to pass through the filter. At the top of the pouch is topseal 952.

The discontinuous (or porous) seal between the liquid and ingredientcompartments may be peelable, allowing the ingredient to be removedafter cooking. Since the seal is discontinuous, liquids within theingredient compartment can enter the liquid compartment during cooking.

Some filter materials may be food-safe and be effective wet as well asdry, in which case seal 944—provided to avoid contact between theingredient and the filter—may be unnecessary. If provided, seal 944 maybe peelable or rupturable so it can be opened by the expansion of steam,etc. generated by heating the ingredient and/or liquid in the ingredientand/or liquid compartments, or by compressing one or both of thosecompartments within the apparatus (especially if they are pre-filledwith gas such as air). Once seal 944 has been opened, the filtermaterial should not detach and descend into the ingredient compartment.This can be achieved—assuming the filter material remains a continuous,non-shedding mass—by providing a discontinuous or porous seal below thefilter, or by sealing/bonding the filter to at least one pouch wall. Ifthe filter material can shed or otherwise break apart, then it can becontained above or within a material having pores fine enough to holdback the filter material, but allow grease, etc. to pass through.

At the top of the pouch peelable seal 950 is provided in someembodiments (e.g., those in which seal 944 is not used), above which areone or more pre-made holes 954 to vent emissions which have beenfiltered, allowing them to escape the pouch. Emissions may also ventthrough a porous upper region of the pouch if provided, or the upperregion of the pouch may be pierced within the apparatus (e.g., by one ormore needles) to allow venting. Since seal 950 (or seal 944) ispeelable/rupturable, other seals in the pouch subject to the samepressure should be stronger. An exhaust duct with fan to generateairflow may be provided in some embodiments near the top of the pouch tocollect emissions from the pouch.

As an example of using the pouch of FIG. 60 in an automated cookingprocess, a burger may be cooked and dispensed according to the followingsequence: 1) the machine controller causes the upper portion of thepouch (in some embodiments) to be pierced to establish vent holes; 2)the controller causes the ingredient to be heated (e.g., by bringingheated plates such as those of FIG. 59(b) into contact with theingredient through the pouch wall(s), or via microwave or RF radiation;3) if seal 2 is provided, then the expansion of gasses produced withinthe ingredient and liquid compartments opens the seal, and the gasses(and other emissions, if applicable) enter the filter compartment,exiting the pouch via the vent holes or equivalent after being filtered;4) the controller causes peelable seal 1 to be opened, allowingdrippings accumulated in the liquid compartment to be released into awaste bin (or other container, if the drippings are to be retained foranother purpose); and 5) the controller moves a dish or other receptacle(which may contain at least one other ingredient such as a bun, pasta,salad greens) below the pouch and then causes the interrupted seal belowthe ingredient to be peeled and the ingredient released into the dish.In some embodiments the drippings can be captured in compartment 936,e.g., by heat sealing the pouch above it, and the pouch opened abovecompartment 942 and tilted or inverted to release the ingredient; thisis especially feasible if filter 948 is fastened to the pouch; also,seals 938 and 940 need not be openable.

The pouch of FIG. 60 may also be used for steaming an ingredient usingmicrowave, RF, or another heat source, in which case water may beprovided in the liquid compartment (e.g., as-packed); the filtermaterial may be chosen so as to trap water vapor, or no filter may beused if the steam can be exhausted effectively, or condensed anddrained. A vent hole can be provided for steam release, and/or apeelable portion of the pouch seal can be opened before steaming, oropened by steam pressure. When steam heating, the pouch may be shaken,inverted, or otherwise manipulated to improve uniformity.

Alternatively, in some embodiments, the controller may cause the pouchto be clamped between ingredient and liquid compartments so as toprevent communication between them (and thus leakage from the liquidcompartment), or the pouch may be sealed between the compartments (e.g.,heat sealed in this region using heated jaws). The controller may thenopen the pouch at its top or elsewhere (e.g., the pouch may be slitbeyond a peelable seal that can be opened) and when tilted or invertedso as to deliver the ingredient to a dish. After this, the controllermay cause the pouch to be returned to an upright position, unclamped,and disposed of (e.g., dropped into a waste bin), possibly after sealingthe pouch. In some embodiments the pouch of FIG. 60 comprises the innerpouch of a two-pouch system similar to that of FIG. 59(a).

FIGS. 61(a)-(f) depict an alternative heating/cooking (e.g., grilling)approach in which the ingredient is processed but preferably without thefood preparation apparatus coming into contact with the ingredient. Theapparatus comprises a fixed (or moving) plate 956 a and a moveable plate956 b (one or both of which is heated), disposable plate covers, adispenser for a peelable pouch, a waste container, and a dish transport,while the materials comprise an ingredient (e.g., beef patty, chickenbreast, tofu slice, hash brown potatoes, sausages, steak, shish kabob,fish, Portobello mushroom cap, eggplant slice, pineapple, etc.) to beprocessed and a pouch to contain the ingredient.

In FIG. 61(a), the two plates are shown having inner heated surfaces 958a, 958 b. The plates may be arranged in a “V” shape as shown with theinner surfaces facing one another and separated by an angle A (e.g.,greater than zero and less than 180 degrees, with 45-90 degrees beingpreferred), though other shapes may be used in some embodiments. Theplates are spaced to allow the plate covers to be added. The plates maybe ribbed on their inner surfaces (e.g., to create grill marks on theingredient). Prior to this step, the dispenser and pouch may need tomove out of the way, e.g., perpendicular to the plane of the figure.

In FIG. 61(b), disposable heat-resistant plate covers 960 a, b (e.g.,aluminum foil, parchment paper, optionally coated with a non-stickmaterial (e.g., Reynolds Wrap Non-Stick Foil (Reynolds ConsumerProducts)), or oiled) have been placed over the plates and the plateshave been brought closer together to prevent ingredients from fallingin-between the plates. However, for processing certain foods (e.g.,frying eggs or making pancakes), the fixed plate may be horizontal andboth plates may be flat (not ribbed). The covers may be supplied fromseparate rolls (not shown)—possibly moving from supply to take-uprolls—may be pre-cut, and may be retained by the plates (e.g., by vacuumapplied to holes within the plates) and conform to them (e.g., conformto any ribs, which preferably are curved in only one axis so that thecover material need not stretch (and not bend) in order to conform. Forexample, the covers may easily conform to ribs shaped like halfcylinders extending from the top to the bottom edge of the plate. If notretained by vacuum, etc., the covers (especially for the fixed plate)may simply be held in place temporarily by being continuous with rollsof cover material above the plates, etc.; in such cases, the pressure ofa somewhat flowable ingredient (e.g., raw meat) against the covers inFIG. 61(e) will cause the covers to locally conform to the plate to someextent; it may be preferable to have the ingredient not perfectlyconform to the shape of the cover, thus allowing channels to remainbetween ingredient and cover through which drippings can escape. Platesmay be preheated or heated only after the ingredient is added.

In FIG. 61(c), a pouch 962 has been peeled open, possibly involvingblades 964, allowing ingredient 966 within to fall in direction 968 ontothe covered plates. This is preferably done while the plates are above awaste bin, in case there are initial drippings (e.g., raw poultryjuices) from the ingredient, and to prepare for drippings producedduring processing. The ingredient typically will then settle (e.g.,direction 970) onto either one plate or another (it doesn't matterwhich) as in FIG. 61(d).

In FIG. 61(e), the moveable plate has moved (e.g., through bothtranslation 972 and rotation 974) so as to change the angle of its innersurface to an angle smaller than A (e.g., 0 degrees, making the moveableplate parallel to the fixed plate) and a controlled pressure is appliedto the ingredient between the plates to prevent it from sliding off theplates and to make close contact with the ingredient, allowing good heattransfer, and optionally controlling the ingredient shape (e.g.,thickness). As the plate moves, its trajectory is controlled so that thegap between plates is not large enough to allow the ingredient to slipthrough (e.g., a rolling motion) and/or the ingredient is continuouslycompressed to prevent slippage. While in the configuration shown in FIG.61(e), the ingredient is processed (e.g., cooked), e.g., while over awaste bin 978, and drippings 976 run down the cover(s) and into the bin,avoiding contact with the plates. A hood or tube provided with anexhaust or vacuum fan may be introduced near/above the plates towithdraw emissions from the ingredients and optionally, pass themthrough filters, etc.

In FIG. 61(f), the ingredient has been fully processed and most alldripping has ceased. The bin has moved out from under the plates (or theplates and ingredient have moved so no longer over the bin) and underthe plates is now dish 980 or other vessel, in this case a dishcontaining half hamburger bun 982 to which other ingredients (not shown)may already have been added. The moveable plate has moved away from thefixed plate (optionally after rotating so that a portion (e.g., thelower part) of the ingredient is released first while another portion(e.g., the upper part) is clamped, to allow for further draining) indirection 983, allowing the ingredient to slide downwards in direction984 and onto the dish. If the dish is moved in direction 986 at the sametime the ingredient is descending, its position on the dish (or bun) canbe well controlled. Or, if the ingredient (e.g., patty) contacts thedish (or other ingredient such as a bun), it can stop due to frictionand not move further until the dish translates (e.g., to the right asshown).

In some embodiments the fixed plate inner surface is oriented at asmaller angle to the horizontal such that the ingredient does not slideon its own. The cover over the fixed plate can then be advanceddownwards (e.g., using a gripper, rolling it up onto a take-up roller)and serve as a conveyor belt as in FIG. 51, delivering the processedingredient controllably onto the dish. In some embodiments, unheatedplates covered with disposable, moving conveyor films can be used tocontrol the delivery of an ingredient in a similar fashion: theingredient can be dropped onto the conveyor film from a pouch, and thenbe controllably delivered by the film. In a last step (not shown), thecovers are released (e.g., cut loose from rolls above, if applicable)and fall (possibly with some air assist to dislodge them from theplates) into a waste bin (e.g., which can move back underneath theplates) and the cycle repeated. Or, if the covers are fed from supplyrolls, they can be or advanced downwards (e.g., by edge or vacuumgrippers, or by applying tension to take-up rolls) such that the platesare now covered by a pristine portion of the covers, ready for the newingredient to be processed.

Since cooking takes time (e.g., 5-7 minutes for a hamburger patty), insome embodiments the grill plates move out from under the dispenser(e.g., off to the side), allowing the dispenser to dispense otheringredients that may be needed (bun, tomatoes, sauce, etc.). Themechanism that moves the moveable plate as shown in 61(e) need nottravel with the plates, since the plate can due to its weight remain inposition.

In some embodiments multiple plate pairs forming a ring-shaped carouselare used, such that as the ring rotates from position to position,ingredients are added to plate pairs and then are processed and removedwhile the ring continues to rotate. Such a system is able to randomlyaccess any plate pair to add an ingredient or allow it to exit (e.g.,facilitating different cooking times). However, the ring can also indexat a constant speed, with the first ingredients to be added being thefirst to be removed (first-in, first-out). The plates of FIGS. 61(a)-(f)can also be used with the pouches of FIGS. 59(a)-(b) or FIG. 60. Platescan be inductively heated if desired.

In some embodiments, ingredients 988 skewered on sticks 990 (e.g.,disposable wooden sticks as used in shish kabob, yakitori) may be cookedin an automated system in a manner that does not contaminate theapparatus as shown in FIGS. 62(a)-(b), using a rotisserie assembly whichcomprises at least one actuator 992 (e.g., a motor), releasable clips995 (one per skewer) which are rotated by the motor (e.g., through a setof meshed gears 994), an actuator which can rotate the assembly aboutaxis 996 (e.g., horizontal) in direction 998, an actuator that canopen/close the clips, a heater, and an exhaust system. The cookingprocess in some embodiments is as follows: 1) package thesticks/ingredients in a pouch with the sticks oriented vertically (i.e.,perpendicular to the top seal) as shown in the elevation view of FIG.62(a) and with upper end 1000 of each stick extending into the upperportion of the pouch (e.g., embedded within peelable seal 2); 2)position a waste bin under the pouch and peel peelable seal 1002 to openthe pouch and continue to peel the walls apart (e.g., around blades)including vertical seal regions 1003 as is done for a Type 2B ingredientas the pouch descends, exposing the skewers (the upper end of eachskewer is still held within seal 2); 3) position the rotisserie assembly1005 under the skewers (by moving the dispenser or the assembly) andcapture the lower end 1004 of each skewer in a releasable clip; 4)continue to peel the pouch until the skewers are released completelyfrom seal 1006, then remove the pouch (e.g., grasping its top seal1008); 5) rotate the rotisserie assembly around axis 996 such that theskewers are more horizontal (though preferably with their upper endslower than their lower ends so that drippings will not move toward therotisserie assembly) as shown in the plan view of FIG. 62(b); 6) turn onheating element 1010 and exhaust system (not shown) above the skewerswhile rotating the latter in directions 1012, and cook the ingredientsas drippings fall into the waste bin; 7) after dripping from theingredients and skewers has stopped (at least briefly: machine visioncan be used to ascertain the timing of this), introduce a dish 1014underneath the skewers; 8) release the clips, allowing the skeweredingredients to fall into the dish.

In some embodiments ingredients on skewers can be cooked withouttransferring the skewers to a rotisserie (e.g., while vertical).Ingredients can be pierced by skewers/wires (e.g., vertical) and falloff of these (or be pushed off) into a dish after cooking, or theskewers may be released such that the ingredients fall into the dishwhile still on skewers. If the ingredient would normally slide off thewire, this can be prevented initially by ensuring that the ingredient issupported by the dish. Skewers (or wires) can be released by variousmethods, e.g., their tops may be embedded within the pouch above thecompartment holding the ingredient, and once the pouch is peeled in thatregion, the skewer is released. If skewers do not rotate as they wouldif using a rotisserie, then heating means such as heating elements canbe used—preferably arranged on both sides of the group of skewers (i.e.,moved into place after the pouch is peeled)—to evenly cook theingredients.

In some embodiments, ingredients (e.g., in a pouch or dish (e.g., ifmetal)) can be heated or cooked using a flameless heater such asSpeedHeat (Sterno Products, Corona, Calif.).

In some embodiments forced convection can be used to heat, cook, toast,and/or re-crisp ingredients (e.g., in a dish), similar to the way an airfryer, convection oven, or halogen oven works. Ingredients can besupported during heating in some embodiments by or one or more wires(e.g., 2 underneath, or 3-4 at different angles) that are fed fromsupply spools (e.g., to take-up spools, or they can be cut and droppedinto a waste bin) such that for each new meal, the wires are advanced toa fresh section. In other embodiments ingredients can be supported whileresting on raised ribs on a disposable foil tray (e.g., in which theingredients are served) which allow air flow beneath the ingredients toheat them on the underside.

Using RF energy (e.g., from Goji Food Solutions Ltd., Hamilton, Bermudaor NXP Semiconductors, Eindhoven, The Netherlands) ingredients can insome embodiments be heated or cooked while within pouches or after beingdispensed into dishes. This can be done selectively/differentially, thusfor example all ingredients to be served can be dispensed onto a dishand then only some of them can be heated, and ingredients can be heatedwith different temperatures and times. This can avoid the need todispense some ingredients, heat them, and then dispense otheringredients which are not to be heated. Precisely-beamed RF energy canbe used to heat an ingredient inside a pouch while it is beingtransported to the dispenser, or to selectively heat one or moreingredients within a dish while the dish is still under the dispenser(the latter may also be achieved with other heating methods such asmicrowave). RF energy can also be used to selectively heat water in apouch so as to steam an ingredient without directly cooking it.

Other methods of heating and cooking ingredients include resistivehigh-frequency heating, in which the skin effect is exploited tosear/crisp an ingredient, and variable peak wavelength cooking (BravaHome, Calif., US patent application US20170223774A1).

In some embodiments pouches or dishes containing ingredients are placedin microwave/RF chambers to be heated for pouches or dishes. Suchchambers may be designed to be loaded or unloaded from the top, side, orbottom, and generally will include a door or other barrier. In the caseof RF chambers, to the extent that RF energy can be precisely beamed, afully-enclosed chamber may be unnecessary.

An ingredient may be heated or cooked by more than one method, eithersequentially or simultaneously. For example, a chicken breast may beheated on its underside by placing it into a disposable foil dish incontact (e.g., enhanced by vacuum) with a heated chuck. Meanwhile, aradiant heater (e.g., a quartz infrared heat lamp) above the dish may beused to heat its upper surface. Thus, one side is heated by conductionwhile the other side is heated by radiation (of if the upper surface isexposed to hot air, then by convection).

In some embodiments a pouch design with multiple compartments may beused for steaming an ingredient: water may be contained in the lowercompartment and heated (e.g., by direct application of microwave or RFenergy, or by contact with a heated surface) and an ingredient to besteam in the upper compartment. Steam produced by the water risesthrough the channels into the upper chamber. Once the steaming iscompleted, the pouch can be partially peeled so as to release the waterinto a waste bin, etc., after which the ingredient can be released intoa dish by peeling the pouch further.

In some embodiments, ingredients may be boiled, braised, soaked (e.g.,beans), have their flavor contribute to a broth, etc. by using a similartwo-compartment pouch. The pouch contains liquid (e.g., water) whichfills both the lower compartment and at least a portion of the uppercompartment, while the latter contains the ingredients, which are atleast partially immersed. The liquid can be introduced during thepackaging process, or later (e.g., by piercing the pouch with a needle).In some situations (e.g., boiling pasta or a grain), the goal is toretain the ingredients in the upper compartment and dispose of orseparately utilize the liquid, while in other situations (e.g., makingsoup), the goal is to retain the liquid while disposing of or separatelyutilizing the ingredients (e.g., chicken, bay leaves, a tea bag) in theupper compartment, and in some situations both the liquid andingredients are to be retained but need to be dispensed into differentvessels. After cooking, the lower compartment is opened, releasing theliquid (e.g., into a waste bin, bowl, or secondary pouch) after whichthe upper compartment may be opened to release its contents (if thesecontents are to be disposed of, there may be no need to first releasethem, however).

Pouches (e.g., polymer) may comprise conductive (e.g., metal foil orwire) patterns of electrodes/antennas which provide for resistive(DC/low-frequency) or RF/dielectric (high frequency) heating of aningredient within. If intimate contact between the conductive patternsand the ingredient is desired, the pouch can be vacuum packed. Tofacilitate recycling, the conductive patterns may be separable fromother portions of the pouch (e.g., may be sandwiched between theingredient and the polymer pouch walls).

In some embodiments an ingredient in a pouch may only be partiallycooked (e.g., seared) by methods and apparatus such as those describedabove.

If cooking in an open vessel, steam, splatter, oil droplets, etc. mayrise up and contaminate the dispenser and other equipment. To minimizethe risk of this, in some embodiments air flow (e.g., generated by oneor more air knives or vacuum plenums) is arranged to flow across thevessel (e.g., horizontally), such that such contaminants are divertedfrom their normal trajectories and rarely if even end up on surfacesthey would contaminate.

FIGS. 63(a)-(f) are cross-sectional elevation views of a sequence forpreparing an egg sandwich with melted cheese on a toasted bagel. In FIG.63(a), a bagel half 1016 (e.g., pre-sliced, or sliced as it exits thepouch) is released from a pouch toward a dish 1018 (heat tolerant, e.g.,aluminum foil). The bagel half descends in direction 1020 and contactsthe dish, which in some embodiments is moving at the time of contact indirection 1022; this causes the bagel to rotate in the desireddirection, continuing to descend until it lies flat in the dish with thecut surface 1024 facing upwards. Preferably the second half of the bagel(not shown) is similarly dispensed onto the dish in another,non-overlapping location with its cut surface also facing upwards, sothat both halves of the bagel can be toasted simultaneously. In FIG.63(b) the dish has moved underneath one or more heating elements 1026(e.g., halogen, resistively-heated nichrome wire, possibly with a fan toprovide air flow) and the bagel is toasted, or equivalently, the elementmay move over the dish. In FIG. 63(c), the dish with toasted bagel half1027 has moved out from under the element and a cooked, heated egg 1028(e.g., steamed, sous vide, fried, possibly in a circular format) isdispensed from the pouch, moving in direction 1030, e.g., as the dishmoves in direction 1032 to one side such that the egg is compelled tolie flat and roughly centered on one bagel half. In FIG. 63(d), cheese1034 has been dispensed and moves in direction 1036 on top of the egg,e.g., as the dish moves in direction 1038, such that the cheese lies ontop of the egg and is roughly centered (if desired). Prior to addingcheese, Canadian bacon, etc. may be similarly dispensed. In FIG. 63(e),the dish is moved under the element and the cheese is melted. Lastly, inFIG. 63(f), the dish moves out from under the heating element indirection 1040 with melted cheese 1042, ready to serve. A similarapproach can be used to a) prepare a toasted bagel on which smokedsalmon, cream cheese, tomato, etc. is dispensed; b) assemble a pizzafrom various ingredients and then cook it prior to serving.

In some embodiments ingredients may be heated, cooked, toasted, crisped,etc. while inside a heat-resistant pouch, or after transfer to a sleevethat is heat-resistant and preferably, disposable. Materials which canbe used include metal foil, metal mesh, PET, fiberglass, and PTFE-coatedfiberglass.

Ingredients, especially those in pouches containing little or no air,can be heated in-pouch by immersion into hot water, or using steam.Prior to opening the pouch, if desired the outside of the pouch can bedried by hot air (e.g., via an air knife, shaking, centrifugation,drying similar to that of an Airblade (Dyson, Malmesbury, Wiltshire,United Kingdom), contact with an absorbent material, etc. To minimizethe need for drying, the pouch exterior can have a hydrophobic coating,or be surrounded by another pouch that isolates it from water or steam.In the case of hot water, the first (ingredient-containing) pouch can belowered into a second pouch surrounded by hot water whose bottom ispreferably anchored so it remains submerged. Hydrostatic pressure willpush out air between the two pouches, providing intimate contact andgood thermal contact between the first pouch and the water. Tofacilitate placing the first pouch inside the second, the latter can belifted out of the water temporarily, or water can be introducedafterwards; actuated tabs may also help open the second pouch.

Other methods of heating and cooking that may be used include cooking byelectroporation and pulsed ohmic heating (IXL Netherlands, Schalkwijk,The Netherlands); high intensity focused ultrasound energy (known to themedical art); in-pouch vigorous agitation, manipulation, tumbling, etc.;and injecting steam or hot water into the pouch (and optionallytumbling).

Other Processing

Some foods may benefit (at least aesthetically) from having aningredient introduced by swirling, mixing, etc. once at least anotheringredient has been introduced into a dish or other vessel. For example,a soup can be dispensed into a bowl (preferably first adding any solidingredients to the bowl to avoid splashing) and then a cream, yogurt,etc. can be dispensed onto the surface and swirled into the soup using adisposable tool such as a plastic or wood stick held in a holder (e.g.,clamped by a solenoid). The bowl can be moved under the tool (or viceversa) with two axes of motion to achieve the desired swirl, etc. Oncethe bowl has moved away (e.g., to be served), the tool can be releasedinto a waste bin below. A new stick can be delivered (e.g., from amagazine) into the holder when needed. A similar approach using adisposable tool can be exploited for mixing, blending, stirring,breaking up/dispersing, etc. ingredients within a vessel (e.g., as partof the process of preparing a meal).

If at least one compartment of a pouch contains a gas such as air or amodified atmosphere (to preserve freshness), or a flowable liquid,peelable or burstable seals can be opened in some embodiments byapplying pressure to the compartment. The seal can be between thecompartment and the outside, or can be an internal seal between multiplecompartments within the pouch. Once an internal seal is opened, thecontents of multiple compartments may be combined (e.g. mixed, stirred)and may interact. Inter-mixing can be encouraged by shaking or vibratingthe pouch, by tilting it (e.g., multiple times) or tumbling it, bypressing on the pouch or rolling/dragging across it using one or morerollers or other shapes, etc. In some embodiments, compartments withitems to be combined are not adjacent to one another, but are separatedby a compartment intended for mixing. Examples of ingredients that canbe combined in a pouch are flour and water used to make a roll or pizzacrust, salad greens and salad dressing, eggs and vegetables used to cooka frittata, etc.

Pouch Disposal

In some embodiments it is preferable to dispose of a pouch by droppingit from the grasper into a bin (e.g., refrigerated) below the dispenserthan to lift it out of the dispenser and move it to a bin. Dropping itis quicker and minimizes the risk of an ingredient dripping from orfalling off of an open pouch during transport and onto the machine,contaminating it. Before dropping the pouch, it may be lowered untilcloser to the bin (or partway inside of it) to make sure that it goesentirely into the bin (and air resistance or currents do not disturbthis).

If a bin is located below the dispenser and below the dish, the dish canmove out of the way (e.g., along one or more tracks that do not obscurethe bin), and then return to being under the dispenser. The bin may alsobe located alongside the dish, and optionally move along with it. Thebin can also be used to receive undesired contents of pouches (unwantedamount of ingredient, liquid), drippings from cooking, etc. More thanone bin can be used in some embodiments, e.g., one for relatively emptypouches, one for liquids and solid waste (unwanted amounts ofingredients). In the system shown in FIG. 29(b) of the 074 and 253filings, multiple bins can be provided, one below each dispenser.

FIGS. 64(a)-(c) depict in elevation view an arrangement in which pouches1044 are stored underneath dish 1045 and dispense from pouch supply1046. In such an arrangement, the manipulator comprising gripper 1047and arm 1049 may fetch a pouch from the supply through slot 1048 in aplate 1051 that supports the dish once the dish has moved out of the wayin direction 1050 as in FIG. 64(b). Once the pouch has been lifted intodispenser 1053 as in FIG. 64(c), the dish can return in direction 1052to its position beneath the dispenser, and have the pouch contentsemptied into it. The dish can be moved by a linear stage, etc.

Dish Transport and Delivery

The delivery box described in the 074 and 253 filings can also serve asa heater such as a microwave oven: a dish can enter, be heated, and ifany additional ingredients need to be added, it can leave the deliverybox, move to one or more dispensers, and then return to the box fordelivery to the customer. The box or a similar box may incorporate adouble door/airlock and be positively pressurized and/or have highvelocity airflow to prevent the entrance of insects or other vermin.Machine vision may be used to verify that no undesired “visitors” haveentered the box before it is opened to the inside of the machine.Delivery boxes may be stacked vertically and completed meals introducedin one boxes using an elevator-type device.

In some embodiments, rather than have dishes move in a sequentialfashion as in FIG. 29(b) of the 074 and 253 filings, dishes may be movedby the system controller to and from dispensers independent of oneanother on “smart” carriers in a random-access (vs. serial) fashion.Such carriers can bring dishes only to the dispensers (or othersubsystems, such as heaters) needed for a particular customerrecipe/order, and in the required sequence. Carriers may be wheeled orslide, driven by motors, linear motors (e.g., Sawyer-effect 2-axislinear motors), etc. In some embodiments one or more robots (Cartesian,SCARA, etc.) can manipulate the carriers (e.g., from below usingmagnets) in a pick and place fashion. In systems withindependently-moving bowls, the controller must coordinate the motion ofthe bowls to avoid any collisions, and holes can be provided belowdispensers that provide access to one or more waste bins. The carrierpaths can be designed so that any portion of the carrier (e.g., wheels)that might fall into a hole avoids it instead.

To determine how much of the contents of a pouch are dispensed, thedispenser may have a built-in weighing capability similar to that ofFIG. 22(d) of the 074 and 253 filings, by incorporating a load cell orspring/linear scale (which also provides compliance/tension control)into the assembly above the grasper, and/or the dish carrier mayincorporate weighing capability (e.g., load cell).

Restocking

Systems for automated food preparation, especially if deployed in publicspaces, can be restocked manually but also by robotic,remotely-controlled or autonomous resupply vehicles. For example, asystem can be located out of doors and resupplied by a rolling deliveryvehicle, or by an air vehicle (e.g., quadcopter) or boat-like vehiclethat delivers individual pouches, groups of pouches, shelves filled withpouches, etc. For example, a quadcopter can drop pouches into a funnelor net one at a time, or feed a pouch chain to an outdoor system,without even needing to land. Systems that are indoors, if locatedadjacent to an exterior wall, may be restocked by a delivery vehiclethat accesses the system through a hole (e.g., closeable) in the wall.To minimize the size of this hole, individual pouches may be used forrestocking, or pouch chains (which may be separated using perforations,scoring, or by cutting within the system, if the system uses individualpouches rather than chains). If individual pouches are delivered to thesystem, it can identify them and place them into shelf cubbies or otherstorage units using the same manipulator it uses to fetch them later(e.g., using paddle 332); this can be done when the system is idle(e.g., early morning). Whether resupplied by a human or a machine, it isdesirable that the resupply process take as little time as possible, sothat many other systems can be resupplied on the same day.

Automated shuttles/drones (airborne, rolling on the ground, sailing onwater) can bring ingredients needed by one machine to another machine,and to/from commissaries or other locations where ingredients areprepared and/or packaged. For example, an ingredient that is in demand(generally, or as the result of at least one pre-order) at one machinebut less in demand at another machine can be moved from one to anotherby an autonomous device.

In machines having shelves comprised of modules, or using pouch boxes,since modules and boxes can be removed independently, then the machinein some embodiments can ‘defragment’ storage so that it keeps pouches inas few modules or boxes as possible, thus freeing others (or fillingthem with pouches to be removed due to them not selling, being close toexpiration, etc.) to be removed and replaced with modules or boxes withnew/fresher/more pouches. Defragging can also facilitate/acceleratepouch fetching by the grasper, and machine servicing tasks such asloading and unloading ingredients.

The MEP may be part of the shelving unit: an area reserved for pouchesthat are soon to be used for one or more meals. Once an order is placedbut it is not yet time to prepare it, the machine can create/allocate aMEP for that particular order. Space may be provided for multiple,simultaneous MEPs.

In some embodiments the machine may be restocked by merely placinginside the machine within reach of the grasper a box, case, etc.containing pouches, which may be randomly piled inside. The controllercan then direct the grasper to fetch each pouch from the box and using ascanner (e.g., barcode) and/or machine vision, identify each pouch,verify it and its contents are acceptable, and then place it in a knownlocation within the shelf or pouch box. This operation can be doneduring idle times, when the machine is not preparing a meal for acustomer.

Once a shelf module has been inserted or replaced, the codes on all ofits pouches can be scanned, after which it is ready to use. If, however,it is known to the machine generally in which region of the machine tofind a particular ingredient, the machine may select a pouch within thatregion, and then read the code to verify the identify, expiration date,etc. of the ingredient.

If a pouch has an ingredient that is only partially consumed (e.g., amulti-compartment pouch, or a pouch that has been resealed), it can bereplaced in the shelf or box. If the pouch has been resealed, a newexpiration date can be established by the machine controller based oningredient data and in recognition that the pouch may have been packagedunder vacuum or a modified atmosphere, and these conditions may nolonger exist in the resealed pouch (although in some embodiments themachine may vacuum reseal the pouch after evacuating air inside and/orbackfilling with a modified atmosphere gas).

Cooking Vessels

Vessels with detachable liners such as those shown in FIGS. 10,20, and31 of the 074 and 253 filings are provided with vacuum in someembodiments since in many cases if vacuum is not applied between thewall of a heated vessel and its liner, thermal conduction between vesseland liner can be poor due to the insulating layer of air between them,reducing efficiency, slowing heating and cooling, and limiting thetemperature that the liner can practically attain. The liner ispreferably thin (e.g., 0.0005-0.0050″ inch) and made of low-cost,heat-stable and food-compatible materials such as aluminum foil,anodized aluminum foil, or stainless-steel foil) so that it can readilybe disposed of. Due to its small thickness, it might normally be fragilewere it not held in intimate contact with the vessel wall through theuse of vacuum, the wall thus also providing mechanical support. Liners(or if no liner is used, then vessels without liners), may be providedwith small openings (e.g., widely spaced, or contiguous, as with ascreen or mesh) or with a membrane or porous/filter material. Suchliners may be used for procedures such as frying that may generate steamor gasses which should be allowed to escape. Openings can be made usinglaser or mechanical drilling, by stamping, by fixing a mesh over alarger hole, etc. While allowing steam and/or gasses to escape, such aliner/vessel can retain droplets such as oil which should be keep insidethe cooking environment to avoid contamination of the system.

In some embodiments rather than vacuum between vessel and liner, athermally-conductive liquid, gel, or soft elastomer may be used.Flowable materials such as water (e.g., under pressure to avoid steamevolution, possibly superheated), or a high-temperature stable workingfluid may also be introduced into the space between vessel and liner inorder to heat or cool the liner. In some embodiments the volume betweenthe vessel wall and liner can behave similar to a heat pipe in whichheat is transferred from vessel to liner via an evaporating liquid suchas water, which then condenses on the liner, heating it; condensedliquid then returns to the vessel surface and is evaporated again. Insome embodiments liners may be heated using jets of fluid (e.g., steamor hot air jets), or by using inductive heating (e.g., using a linercontaining a ferromagnetic or relatively low electrical conductivitymaterial).

In FIG. 20(a) of the 074 and 253 filings, a “clamshell”-like arrangementof vessels is shown. The bases depicted may incorporate channels forvacuum which can be communicated to the lower base through a rotatingvacuum fitting, and to the upper base via such a fitting or flexibletubing.

To reduce the possibility of adhesion to a liner such as liner 678(FIGS. 20(a)-(j) of the 074 and 253 filings), ingredients which tend toadhere if completely raw (e.g., meat) may be cooked partially, at leaston their surfaces. In some embodiments a single-use scraper (e.g.,plastic, or plastic with a metal edge) can be provided to help detachadherent ingredients. Vessels such as those in FIGS. 31(a)-(l) of the074 and 253 filings may contain actively or passively driven elements(e.g., a washable, passively driven weighted scraper attached to apivot) which serve to mix or scrape ingredients (to prevent sticking, inthe case of raw meats or eggs, etc.), e.g. while the vessel is rotating.

With respect to liners such as 678, in cases in which heat is suppliedby other means (e.g., radiation, convection) and not by conduction, aheat source adjacent the liner and a vacuum to provide close contactbetween heat source and liner is not needed.

Miscellaneous

In some embodiments the dish or cooking vessel into which ingredientsare dispensed already has one (or more, if mutually non-interacting)ingredient in it, such that the dish serves as a food storage device (inlieu of a pouch) as well. As an example, an acai bowl might be preparedusing a bowl in which refrigerated/frozen acai is already packed intothe bottom of the bowl; to this could then be added various topping.Ingredients in the dish can be sealed within by a peelable film, etc.This approach may be useful for example when it is difficult to dispensethe ingredient into a dish in a way that a) delivers it entirely intothe dish; and/or b) has it properly placed or shaped within the dish.

The system controller can prevent food sales from the machine iftemperature ever rises above a particular level for too long a time, andnotify the appropriate personnel.

The machine can include an uninterruptable power supply to prepare forpossible power outages and to allow the machine to be temporarilydisconnected for transport without first removing the ingredientswithin. While operating on battery, machine functions other thanrefrigeration and critical sensing, data logging, and communication(with parties responsible for tending to the machine) may be disabled.The system may include a variety of temperature sensors, such as thosewhich monitor ingredient temperatures. If monitored temperatures becometoo high or too low (signaling possible freezing) for too long (e.g.,due to malfunction or power loss), the affected ingredients can beidentified and disposed of if needed.

In some embodiments the machine can prepare frozen desserts (e.g., icecream, sorbet, custard, yogurt) as follows: The dessert mix in liquidform can be initially within a pouch. Upon opening the pouch, the mixcan be dispensed onto a cold plate (e.g., covered by a thin, disposablefilm which may be held tightly against the surface by vacuum) and adisposable or cleanable spatula can be used to scrape the frozen mix offthe plate and into a bowl for Thai-style rolled ice cream, etc. Or, themix can be dispensed onto a disposable film and the film manipulated(e.g., bent, passed around a blade as in FIG. 8(k)) such that the frozentreat peels off and drops into a bowl, cone, etc.

The machine can adapt the meals which are offered according toingredients available or which should be consumed first (based onexpected expiration and/or general or machine/location-specific usagepatterns), and offer substitutions to the customer, and can also refercustomers directly or through a mobile app or web site to another nearbymachine if what they want is not available.

“On the side” ingredients that are always delivered directly in a pouchto a customer can be contained in pouches that are intended for customeruse (e.g., size, shape, graphics, method of opening) rather than formachine use, and may be stored within the machine in the same shelf,pouch box, etc. in some embodiments, or in other storage locations ifnot compatible with such storage. In some embodiments a pouch intendedfor machine use but containing an ingredient a customer requests to be“on the side” can be delivered (e.g., dropping the pouch down a chute)after a trimming operation which removes portions of the pouch (e.g.reduces the size of flaps) that are not needed by the customer or wouldbe suboptimal.

The machine can include a “black box” comprising a data recorder thatrecords images from the machine camera of every pouch before itscontents are dispensed, every dish before it is served, pouch bar codes,and other photos (possibly photos of people in the vicinity of themachine, to help solve vandalism crimes), as well as data collected byvarious sensors. This data can be transmitted as needed (for pouchesthat a machine vision system determines are questionable) and/orperiodically.

When dispensing an ingredient into a dish into wish at least one otheringredient has already been dispensed, it can be advantageous todetermine the configuration (e.g., 2D or 3D size, shape, location,orientation) of previously-dispensed ingredients, as this can bedifficult to predict since the exact configuration of an ingredient maydepend on the conditions under which it was dispensed, interaction withother ingredients and with the dish or other vessel, movement (e.g.,slumping) of the ingredient one dispensed, etc. If the configuration canbe determined, then the deposition of subsequent ingredients can beadjusted to achieve the desired outcome. For example, in preparing aburrito bowl or salad, it may be desirable to dispense an ingredient ina specific region of the dish offering more space for that ingredient,rather than pile one ingredient upon another. In another example, whenmaking a sandwich, accurately determining the configuration of apreviously-dispensed bun or bread slice can allow a filling (e.g., tunasalad, cheese slice), condiment (e.g., mustard), or other ingredient tobe dispensed correctly, by adjusting the position of the dish beneaththe dispenser before and/or during the dispensing of the ingredient.With this approach, a cooked egg can be well-centered on a bagel, etc.The configuration of pre-dispensed ingredients—effectively creating a 2Dor 3D map of what is in the dish, which may include grayscale or colorinformation—can be determined using sensors known to the art such ascameras, 3D scanners, stereo cameras, time-of-flight sensors, and laserdistance sensors (collectively, “scanners” in a process of “scanning”).Scanning may be done before an ingredient is dispensed and/or while aningredient is being dispensed, since the configuration may changedynamically during dispensing (e.g., a previous ingredient may be movedby a new ingredient), and the dispensing may advantageously be made intoa closed-loop process based on real-time sensing and feedback. Feedbackmay adaptively influence the apparatus to vary location and orientationof a dish, adjust the order in which ingredients are dispensed, modifythe dispensing parameters such as squeezing speeds, etc. If scanning isbefore dispensing, then in some embodiments the dish can move to aposition where it can be scanned without obstruction by the dispenser,etc. If scanning is during dispensing, then if impractical to scan fromone vantage point due to obstructions, scans can be taken from multiplevantage points and the results combined. In some embodiments a clear ortranslucent dish (e.g., with a light above the dish) may be used toallow scanning from below. In some embodiments a scanner is attached tothe dispenser or above the dispenser. Scanners may also be used to scanthe final meal as prepared, for purposes of documentation, publicity,and quality control.

FIG. 65 depicts a 3D view of a pouch that like FIG. 28(d), includespeelable pleats or folds to increase pouch capacity and/or reduce pouchdistortion due to the contents. In FIG. 65, however, the folds arevertical and are formed between films 1054 a and 1054 b which are foldedin regions 1056 a and 1056 b and openably (e.g., peelably) sealed inregions 1058 a and 1058 b. Near the bottom of the pouch is shown inregion 2060 can be an openable chevron seal 1060 and below that, flaps1062.

To produce a folded food product such as a burrito, a set of rotatingplates may be used sequentially (similar in some respects to the platesof U.S. Pat. No. 5,912,035A) to fold a tortilla, etc. once one or moreingredients has been dispensed onto it. Each plate can be independentlyactuated, and the set of plates can be stationery (e.g., beneath adispenser).

To prepare a taco, a dish (e.g., molded pulp) having a shape (e.g.,letter “U”) that can support a crisp taco shell with its opening facingupwards or at an angle can be used, with ingredients dispensed directlyinto the shell. To prepare a taco using a soft tortilla, a dish having ashape (e.g., wide letter “V”) that keeps the tortilla mostly open butslightly folded may be similarly used.

Systems for automated food preparation may include frying subsystemssuch as air fryers (optionally having screens which confine theingredient to be fried to a limited area while air circulates, avoidingsystem contamination) and deep fat fryers (e.g., with automated oilexchange and/or filtration/recycling).

Systems may be fully, partially, or not refrigerated depending ondesign, ingredients to be stored, and desired shelf life. In someembodiments systems are designed so some or all storage devices arerefrigerated, but not the rest of the system, which can be moreefficient and reduce system cost. For example, a storage device forpouches might be in the form of a heavily-insulated chamber (e.g.,standard insulation, aerogel, vacuum), and a fetching mechanism (e.g.,grasper 274) may be within the chamber, along with motion stages. Themechanism can then deliver a pouch requested by the controller to a portin the chamber (e.g., a revolving door which can bring the pouch frominside to outside while not opening the chamber) where another mechanismcan take over.

Filling/sealing and weighing equipment known to the art of flexiblepackaging is difficult to use for loading many large solid ingredients(e.g., a slice of cheese or bread) into a pouch similar to FIG. 1. Avery low profile (low height) conveyor at a small angle to thehorizontal may be used, however. It can be inserted into the pouch asthe pouch is held open and convey the ingredient into the pouch. As theingredient begins to exit the conveyor and enter the pouch, the conveyorcan be withdrawn at the same speed the ingredient is conveyed.

Food can be prepared for a customer in one of a multiplicity ofautomated machines/kiosks depending on the customer's preferred machinelocation and in a way that minimizes waste. An algorithm forfacilitating the ordering process may include the following steps: 1)input the preferred location; 2) search the current ingredient inventoryand expiration dates of the machine at that location; 3) comparepackages having the soonest-to-expire ingredients with a recipe databaseand determine which recipes to offer; 4) offer recipes and solicitinput; 5) if an offer is selected, prepare the food, or, if an offer isnot selected, then offer additional recipes which require ingredientsthat will take longer to expire, and if an offer is selected, preparethe food.

Food can be prepared for a customer so that it is ready at exactly thetime requested, without any wait, using an algorithm that may includethe following steps: 1) input the customer's recipe selection andpreferred machine location; 2) calculate the preparation time for therecipe (this can be done with great accuracy if dispensing times forgiven ingredients are programmed or measured in advance, ifgrasping/travel time for a given pouch to reach the dispenser, forheating, etc., is taken into account); 3) determine available time slotsfor the particular machine that accommodate the preparation time; 4)offer available pickup times to the customer and solicit input; 5) oncea pickup time is selected, allocate the time slot accordingly to thecustomer's order; 6) monitor the customer interface for possible changerequests; 7) if a change request is made, repeat beginning at step 3; 8)when the time slot start time arrives, start preparing the food. If thecustomer provides her location (e.g., via GPS) and possibly her mode oftransportation to the machine, the algorithm can further suppress anypickup times that are too soon, and optionally modify the pickup time,automatically selecting another available time slot, if customerlocation and speed indications suggest that the customer will not arrivewithin a few minutes after her planned pickup time.

An algorithm can be used that inputs a customer's food selection,location (e.g., GPS coordinates), and desired distance, then executessteps that may include: 1) determine which machines within the specifieddistance have the required ingredients for the selection, optionallyprioritizing those having ingredients closer to expiration; 2) calculatepreparation time and identify available time slots for each nearbymachine; 3) display a choice of machines and available pickup times foreach machine, e.g., in order of increasing distance; 4) solicit andreceive an order; 5) add the order to the selected time slot for theselected machine.

In some embodiments pouches may be made in which one flap is longer thanthe other, thus allowing one flap to be separated from another moreeasily. Such pouches may be made two across from film webs as shown inFIGS. 66(a)-(b). In the elevation view of FIG. 66(a), the two webs 1064and 1066 have been offset laterally and then sealed on both sides ofcutting line 1068 to form two columns of pouches. In FIG. 66(b), thepouches have been cut apart along line 1068, producing two columns ofpouches each of which has long flaps 1070, short flaps 1072, and topopenings 1074.

Digital recipes used by automated food preparation systems can includeordinary recipe information regarding ingredients and quantities (numberof pouches or pouch compartments, or fraction of a single compartment(though often pouches will have the pre-measured weight or volumerequired for the recipe, taking into account the number of servings)),but may also include: information required for dish/dispensercoordinated motion; locations and orientations of ingredients to bedeposited within a receptacle; stirring or other manipulations to beperformed within a receptacle; in-pouch processes to be performed, andassociated parameters; heating and cooking (in-pouch, in-vessel, etc.)and associated parameters; type of dish for serving, and whether a lidis provided; whether to supply utensils with food, and which kind;whether the pouch needs to be drained of liquid (e.g., by partiallyopening it and allowing liquid to drain into a waste container) beforedispensing, and for how long; for grilling, time, temperature, and platepressure; for stir-frying or other tumble-cooking operations, the motionprofile (displacement, speed, acceleration, type of motion, draining,etc.); which ingredients should be by default served ‘on the side’, etc.

In some embodiments it is desirable to dispense an flowable ingredientin a shape other than that which might be obtained by simply compressingthe pouch and allowing the ingredient to issue through the opening atthe bottom of the pouch compartment. For example, it can be moreaesthetic to dispense such an ingredient in a spherical shape,suggesting that it was scooped out of a container, as is commonly donefor ice cream, etc. While many other shapes are possible, a sphericalshape will be assumed below. Methods of achieving such a shape includethat of cross-sectional elevation view FIG. 67, in which the pouchcomprises one or more pre-formed (e.g., thermoformed) cavities—here,hemispherical—within at least one (here, two) of films 1076 a and 1076 bused to make the pouch. Ingredient 1078 is introduced into the cavitieswhile loading the pouch and the pouch is sealed with an openable sealthat extends from the bottom to approximately the top (line 1080) of thecavities. Flaps 1082 may be provided as usual, allowing the pouch to beopened (e.g., peeled open) up to line 1080 to release the item.Preferably the item is not too adherent to the inner cavity surface andleaves little residue behind; the inner surface may comprise a lowsurface energy material to assist with release.

FIG. 68(a) depicts an elevation view of pouch 1084 capable of multiplecycles of dispensing a molded flowable ingredient or other substance.The pouch comprises reservoir region 1086, cavity region 1088, and flapregion 1090. Openable seals 1087 are used for region 1088. Initially,ingredient 1092 has been loaded in regions 1086 and 1088, whichcommunicate through inlet 1094. Thus, a pre-molded amount of ingredient1092 is in the cavity, ready to dispense as in FIG. 67 by opening thepouch up through line 1096 in FIG. 68(b). FIGS. 68(b)-(f) depict asequence for dispensing and then re-molding the ingredient multipletimes. In FIG. 68(b), flaps 1090 have been separated and the pouch hasbeen opened (not shown) up to line 1096, resulting in the ejection ofmolded ingredient 1092 as is shown in FIG. 68(c). To mold additionalquantities of ingredient, the pouch films forming the cavity are broughttogether again and seal 1087 is closed. If seal 1087 is resealable, itmay spontaneously reseal and have adequate strength for molding.However, external clamps 1098 in FIG. 68(d) (one 2-part clamp on eachside of the pouch) can be used to reseal the cavity (briefly, or if theseal is not resealable, during the molding process of FIG. 68(f)) asshown in FIG. 68(e), where the clamps have engaged the pouch andsurround the cavity. The shape of the clamp includes two gaps 1099 toallow ingredient to flow into the cavity at the top and to allow air inthe cavity to be forced out at the bottom. In FIG. 68(f), region 1086has been compressed (e.g., by squeegee 1100 moving in direction 1102) toforce additional ingredient into the cavity, filling it while forcingair out in region 1104. The clamps can then be removed (if still inplace) and the cycle repeats, returning to the step of FIG. 68(b) inwhich the newly-molded ingredient is released from the pouch and so on.

A third approach to controlling the shape of a flowable ingredientduring dispensing is to vary the shape and/or size of the pouch outletduring the dispensing process. For example, to deposit an ingredient ina spherical shape, the outlet can be initially small while the “southpole” of the sphere issues from the outlet, then gradually widen untilreaching a maximum diameter at the “equator”, then gradually shrinkagain until the “north pole” is finally deposited. Such changes in sizecan be implemented using an actuated, adjustable hole size version of acasing (see casing 726 of the 074 and 253 filings)—e.g., a mechanicaliris—which surrounds the pouch outlet and forces the flexible pouchwalls to form a smaller size opening (or stretches the walls if thematerial is elastic), thereby varying the instantaneous cross sectionaccording to commands from the system controller.

Ramifications

In some embodiments sensing may be used to detect for example when thepouch is correctly positioned within the cubby to allow proper grasping,when the grasper has grasped the pouch, when the flaps of the pouch aremoving along with the arms, when the flaps are between the lower andupper clamps and can be grasped by the peeler, when the flaps aresecurely grasped, etc.

Materials which come into contact with ingredients do not necessarilyneed to be disposed of or cleaned after a single use. In particular, ina system in which a limited number of ingredients (bread and cheese)comes into contact with the materials, and particularly if suchmaterials become heated to a sterilizing temperature or can otherwise besterilized, then such materials may be used multiple times.

In some embodiments in which a pouch is vacuum packed, it may bepierced, peeled, or otherwise opened by a small amount (e.g., near itstop) before being peeled opened, to reduce pouch distortion and/or toallow the venting of gasses during heating of the ingredient therein.

In lieu of tensioning the pouch (e.g., using grippers as shown), thepouch flaps can become easier to separate/reorient by squeezing thepouch so that the contents (especially if flowable) are not able todistort the pouch as much due to their weight, etc. Squeezing can beperformed in the area of the apex or above it.

In lieu of being supported from their top edges when moved (e.g., fromstorage to dispenser), pouches can be supported from at least one face(e.g., with suction cups), their vertical edges, or their flaps. Duringdispensing, pouches can be supported from their vertical edges and insome cases from their faces.

In some embodiments a second set of squeegees or rollers near the bottomof the pouch may be provided to serve as a valve, which can increasecontrol over dispensing food items such as those of Type 1.

Dispensers such as those described herein can be configured so that thetop of the pouch does not move downward during peeling of the pouch.Rather, the pouch walls are peeled upwards such that the peel frontmoves upwards as more and more film is peeled. Blades such as those ofFIG. 8(k), or peeling rollers, if used, can be allowed to rise aspeeling continues. Because the top of the pouch is stationary, it can beheld in place for example by being sandwiched between two feed belts.These belts may also hold in place other pouches that are queued up tobe dispensed after the current pouch.

Ingredients can be in various formed: raw, cooked, partially-cooked,dehydrated, freeze-dried, etc. If dehydrated or freeze-dried, they canbe reconstituted by the addition of water (e.g., hot).

Sensors may be incorporated into systems using to evaluate nutritionalcontent, quality, taste (e.g., sweetness) and other attributes ofingredients, to find contaminants, detect pouch breach, identifyspoilage and pathogens, etc. For example, measuring pouch thickness,height, or width can identify pouch inflation due to gasses which mayindicate spoilage. Sensing modalities may include spectroscopy (e.g.,near infrared spectrometers from Consumer Physics, Herzliya, Israel);X-ray imaging systems; metal detectors; ultrasonic systems; cameras;machine vision systems; weight, volume, and dimensional sensors;mechanical compliance sensors; etc. Ingredient evaluations can beperformed as ingredients are introduced into the system, while instorage, just before use, etc.

In some embodiments blades (or peeling rollers) may be moveable withrespect to the dispenser. For example, they may be mounted to linearbearings or flexures and urged downwards (e.g., by their own weight),allowing them to move in a way that allows them to press against thefilm surface and maintain a desired tension on the film as it passesaround them. Or, they can be moved by suitable actuators into differentpositions or orientations to optimize delivery for particularingredients.

In some embodiments, in lieu of a carousel (e.g. FIGS. 31(a)-(l) of the074 and 253 filings) holding individual pouches, ingredients may bestored in other ways, including other structures which hold individualpouches, or approaches using pouch chains/multi-compartment pouches(e.g., chains containing multiple ingredients arranged in the orderrequired by a particular recipe).

The appliance shown in FIGS. 31(a)-(l) of the 074 and 253 filings can beprovided with a set of pouches arranged linearly, e.g., in a box, suchthat pouches are selectively accessed by sliding them linearly. Inaddition to reusable pouches already described, and other reusablecontainers (e.g., trays with film lids held in place by resealableseals, magnets, etc.), the appliance (and the system of FIGS. 19(a)-(l))in the 074 and 253 filings) can use pre-loaded pouches withdisposable/recyclable film. Such pouches, containing the ingredients forone or more meals, can be grouped/ganged together (e.g., into a box) atleast temporarily, to allow them to be loaded (and optionally, unloaded)into the appliance all at once, and also stored in a refrigerator beforeuse. The box can be collapsible, with the pouches remaining inside, foreasy return after use.

Sensors may be incorporated into the machine for a variety of purposes.For example, if the flaps of a pouch are not successfullyseparated/reoriented, this can be detected by flap sensors (e.g.,near/within the peeler clamps of FIG. 38(f)). Additional attempts may bemade, but if no flaps are detected, the pouch can be released into awaste bin/designated for donation, etc. and the process attempted withanother pouch. Sensors in the cubby or grasper (e.g., of FIG. 19(d)) canbe used to determine that the pouch is present and positioned correctly.Improper position (e.g., angle) can be corrected for (e.g., by rotatingthe grasper to better match the angle of the pouch top edge).

Pouches may contain chemicals for self-heating (e.g., as in U.S. Pat.No. 6,289,889) or cooling the ingredients, a process that can beinitiated, e.g., by using a roller or clamp to crush a portion of thepouch holding the chemicals or rupture a frangible seal.

Pouches may have flaps that are initially joined together to providerobustness in handling, such as having corner or bottom regions that aresealed, with such regions cut off, or the seal holding them weakened(e.g., if made with a light-degradable adhesive) before the flaps areseparated. Flaps may be fully sealed together initially, and forcedapart by powerful suction, seal weakening, etc.

Terminology

The term “ingredient” or “ingredients” refers to one or more distinct,edible food items used in the preparation of an item to be consumed, andthe term “food product” or “food products” refers to one or more ediblefood items ready to be consumed. The singular and plural forms of bothphrases may be considered interchangeable, and the phrases themselvesmay not always be strictly applied herein and may be considered at leastin some situations to be interchangeable.

The terms “food item” and “substance” are generally used as synonyms forthe term “ingredient”.

The term “pouch” generally refers to a flexible package comprised of oneor more materials in film form such as polymers and/or metals, but maybe understood in some cases to refer to other containers, including oneswhich are more rigid.

The term “vessel” generally refers to a container able to holdingredients/food products for purposes of storage, processingdelivery/presentation/consumption, etc. and may be interchanged in manycases with other containers having similar functionality.

The term “dish” generally refers to a receptacle or vessel for servingor eating or drinking food, such as bowls, plates, cups, mugs, andglasses.

The term “meal” generally refers to one or more food items delivered forconsumption, possibly involving processing of various kinds.

“Proximate” or “in proximity to” generally refers to close enough toachieve the required functional purpose, for example, in the context ofa dispenser or dispensing system, it refers to a distance comparable toa dimension of a typical pouch and more preferably within a smallerdistance.

As used herein, words of approximation such as, without limitation,“about”, “substantial” or “substantially” refers to a condition thatwhen so modified is understood to not necessarily be absolute or perfectbut would be considered close enough to those of ordinary skill in theart to warrant designating the condition as being present. The extent towhich the description may vary will depend on how great a change can beinstituted and still have one of ordinary skilled in the art recognizethe modified feature as still having the required characteristics andcapabilities of the unmodified feature.

GENERAL

Figures within this application are not necessarily to scale.

Motions are considered relative. Thus, if object A moves relative toobject B which is at rest, the equivalent effect of object B movingrelative to object A which is at rest is also contemplated in thedisclosure.

It will be understood that particular embodiments described herein areshown by way of illustration and not as limitations of the disclosure.The principal features of this disclosure can be employed in variousembodiments without departing from the scope of the disclosure. Thoseskilled in the art will recognize, or be able to ascertain using no morethan routine experimentation, numerous equivalents to the specificprocedures described herein. Such equivalents are considered to bewithin the scope of this disclosure and are covered by the claims.

It is intended that the aspects of the invention set forth hereinrepresent independent invention descriptions which Applicantcontemplates as full and complete invention descriptions that Applicantbelieves may be set forth as independent claims without need ofimporting additional limitations or elements, from other embodiments oraspects set forth herein, for interpretation or clarification other thanwhen explicitly set forth in such independent claims once written. It isalso understood that any variations of the aspects set forth hereinrepresent individual and separate features that may form separateindependent claims, be individually added to independent claims, oradded as dependent claims to further define an invention being claimedby those respective dependent claims should they be written.

In view of the teachings herein, many further embodiments, alternativesin design and uses of the embodiments of the instant invention will beapparent to those of skill in the art. As such, it is not intended thatthe invention be limited to the particular illustrative embodiments,alternatives, and uses described above but instead that it be solelylimited by the claims presented hereafter.

1. A method for dispensing at least one substance from a sealed flexiblepackage, comprising: (a) providing a sealed flexible package containingat least one substance wherein the package comprises at least oneflexible film comprising a left portion and a right portion with eachportion having an inside and an outside surface with the inside surfacesfacing each other and wherein the portions are partially sealed to oneanother to form at least one cavity containing the at least onesubstance and wherein the seal comprises at least one openable seal andwherein each portion comprises an unsealed extension at one end andwherein each extension is narrower than a sealed region of the portionfrom which it extends; (b) grasping the extension of the left portionusing first grasping means; (c) grasping the extension of the rightportion using second grasping means; (d) moving the first and secondgrasping means to pull the two extensions away from one another; wherebythe seal is opened and at least a portion of the at least one substanceis dispensed from the cavity.
 2. The method of claim 1 wherein the firstand second grasping means move along a path that is at least partiallycurved.
 3. The method of claim 1 wherein the first and second graspingmeans each comprise a clamp having leading and trailing portions.
 4. Themethod of claim 1 wherein the first and second grasping means movesubstantially below the flexible package when grasping the extensions.5. A method for dispensing a food ingredient from a package, comprising:(a) providing a sealed package containing a food ingredient wherein thepackage comprises at least one flexible film comprising a left portionand a right portion with each portion having an inside and an outsidesurface with the inside surfaces facing each other and at least aportion of the inside surfaces contacting the ingredient and wherein theportions are sealed to one another to form at least one cavitycontaining the at least one ingredient and wherein adjacent to the atleast one ingredient, the sealing comprises at least one openable regionand wherein the package comprises two opposite edges and two unsealedflaps beneath the seal; (b) gripping the package near the two edges andpulling outwardly on the package to apply tension to it; (c) separatingand reorienting the flaps; (d) clamping the flaps and applying tensionto them; wherein the package is opened.
 6. The method of claim 5 whereinthe seal comprises a chevron having an apex at its bottom and whereinthe gripping is substantially at or lower than the height of the apex.7. A method for opening a flexible package, comprising: (a) providing apackage having two flaps with non-aligned apertures; (b) inserting pinsthrough the apertures of the flaps; (c) moving the pins to separate theflaps; whereby the package is opened.
 8. The method of claim 7 furthercomprising grasping the separated flaps and applying tension to them.